Gem6K CR

p/n 88-019933-01 A
Automation Gemini GV6K and

Gemini GT6K
Command Reference
Effective: October 1, 2001
LE
C
C
AX GO WH I
INFN TFN
C TSK
OU LS
HEL
P OUT IF
TDIR N C A P
LIMF PS ON I N P C O M
D E LSE
TRG
FN LH W HEN
TPE O B U F S FB
I T E F D G
WA D EN R UN
ET P
T P R E S A RB
R V
STA R A SE D EL V AR
E
NT J OY JOG V A RS C
S F N C C M
TA E
MA N
F OLE T OUT DRFEN
H OM A D
RE TIO
L M AS D RES ERES
R R OR T FO
E TSTA G TE
S T R T SSF
H E N T FSF D IR IZ
G O W C M D A T S
TIN D
E V G O TO F
O F FS TR K T IN O
S V S
User Information
! WARNING !
Gem6K Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
Gem6K Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and
may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and
hardware mentioned therein at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 2001, Parker Hannifin Corporation

All Rights Reserved
Motion Planner and Servo Tuner are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation.
Technical Assistance Contact your local automation technology center (ATC) or distributor, or ...
North America and Asia: Europe (non-German speaking): Germany, A ustria, Switzerland:
Compumotor Division of Parker Hannifin Parker Digiplan HAUSER Elektronik GmbH
5500 Business Park Drive 21 Balena Close Postfach: 77607-1720
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FaxBack: (800) 936-6939 or (707) 586-8586 Fax: +44 (0)1202 69 5750 Fax: +49 (0)781 509-176
e-mail: tech_help@cmotor.com
Internet: http://www.compumotor.com
Tech nical Su pport

E-mail: Tech_Help@cmotor.com
Automation
Introduction
Purpose of this Document

This document is a reference for all the Gem6K Series commands. To gain a full understanding of how the
Gem6K Series commands are used together to implement specific features, refer to the Gem6K Series
Programmer’s Guide (p/n 88-019934-01). For hardware-related information (e.g., electrical wiring
connections, specifications, tuning, etc.), refer to the Gem6K Series Hardware Installation Guide (p/n 88-
019932-01). Information on the Gem6K communications server (COM6SRVR) is provided in the
Communications Server Programmer’s Reference.
NOTE
The contents of this document are
available from the Motion Planner
help system. To access the help
system, use the Info window
(right), or press the F1 key.
This document is also

available in Adobe Acrobat PDF
format from our web site:
http://www.compumotor.com
Table of Contents
Page 1 Introduction:
Command Description Format
Syntax -- Letters and Symbols
Syntax -- General Guidelines
Syntax -- Command Value Substitutions
Programmable I/O Bit Patterns
Programming Error Messages
S-Curve Accel/Decel Profiling
Units of Measure and Scaling
Page 23 Special Programming Characters: Operator symbols for multi-tasking, math and bitwise
operations, relational expressions, bit select operations, etc.
Page 39 Command Descriptions: Operator symbols are described first, followed by the rest of the
Gem6K Series commands in alphabetical order.
Page 343 Appendix A: Gem6K Series Command List: Alphabetical list of all Gem6K Series commands.
Page 349 Appendix B: ASCII Character Table
Page 351 Index
Introduction 1
Description of Format
1. 2. 3.
INEN Input Enable

4. Type Inputs or Program Debug Tools Product Rev
5. Syntax <!>INEN<d><d><d>...<d> GT6K 6.0
6. Units d = 0, 1, E, or X GV6K 6.0
7. Range 0 = off, 1 = on, E = enable, X = don't care
8. Default E
9. Response INEN: *INENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE
10. See Also [IN], INFNC, INLVL, INPLC, INSTW, TIN, TIO
Item Number Description
1. Mnemonic Code: This field contains the command's mnemonic code. If the command is
in brackets (e.g., [ IN ]), it is an operator that must be used within the syntax of another
command (e.g., IN may be used in a conditional expression like IF(IN.3=b1)).
2. Full Name: This field contains the command's full name.
3. Valid Product & Revision: This field lists the Gem6K Series products and the revision of
each product when this command was incorporated or modified per the description. If the
command does not apply to that particular product, the Rev is specified as “n/a”.
You can use the TREV command to determine which product revision you are using. For
example, if the TREV response is *TREV92-016740-01-6.0, the product revision is 6.0.
4. Type: This field contains the command’s type.
5. Syntax: The proper syntax for the command is shown here. The specific parameters
associated with the command are also shown. Definitions of the parameters are described
in the Syntax sections below.
6. Units: This field describes what unit of measurement the parameter (b, d, i, r, or t) in the
command syntax represents.
7. Range: This is the range of valid values that you can specify for an argument (or any
other parameter specified).
8. Default: The default setting for the command is shown in this field. A command will
perform its function with the default setting if you do not provide a value.
9. Response: Some commands allow you to check the status of the command. In the
example above, entering the INEN command by itself, you will receive the response
*INENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE (response indicates all inputs are
enabled). The example responses provided are based on the default error level, Error
Level 4, established with the ERRLVL4 command.
10. See Also: Commands related or similar to the command described are listed here.
2 Gemini GV6K/GT6K Command Reference

Syntax – Letters and Symbols
The command descriptions provided within this manual use alphabetic letters and ASCII symbols within
the Syntax description (see example below) to represent different parameter requirements.
INEN Input Enable

Type Inputs or Program Debug Tools Product Rev
→ Syntax <!><%>INEN<d><d><d>...<d> GT6K 6.0
Units d = 0, 1, E, or X
GV6K 6.0
Range 0 = off, 1 = on, E = enable, X = don't care
Default E
Response INEN: *INENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE
See Also [IN], INFNC, INLVL, INPLC, INSTW, TIN, TIO
Letter/Symbol Description
a_ ........Represents an address specifier, numeric value from 0 to 99. An address specifier is required if
multiple Gem6K drives are connected in a daisy-chain or multi-drop configuration; in fact, leaving off
the address specifier will cause parameter assignment commands to affect all units and
response/transfer commands to request information from all units at the same time (multiple units
transmitting characters at one time will garble the communication). To assign unique unit addresses
to multiple drives, refer to the ADDR command.
B ...........Represents the number of the product's I/O brick. External I/O bricks are represented by numbers 1
through n (to connect external I/O bricks, refer to the Installation Guide). On-board I/O are address at
brick location zero (Ø). If the brick identifier is omitted from the command, the controller assumes the
command is supposed to affect the onboard I/O.
b * .........Represents the values 1, 0, X or x; does not require field separator between values.
c ...........Represents a character (A to Z, or a to z)
d ...........Represents the values 1, 0, X or x, E or e ; does not require field separator between values. E or e
enables a specific command field. X or x leaves the specific command field unchanged or ignored. In
the ANIEN command, the “d” symbol may also represent a real numeric value.
i ...........Represents a numeric value that cannot contain a decimal point (integer values only). The numeric
range varies by command. Field separator required.
r ...........Represents a numeric value that may contain a decimal point, but is not required to have a decimal
point. The numeric range varies by command. Field separator required.
t ...........Represents a string of alpha numeric characters from 1 to 6 characters in length. The string must
start with a alpha character.
! ...........Represents an immediate command. Changes a buffered command to an immediate command.
Immediate commands are processed immediately, even before previously entered buffered
commands.
% ...........(Multitasking Only) Represents a task identifier. To address the command to a specific task, prefix the
command with “i%”, where “i” is the task number. For example, the 4%CUT command uses task #4 to
execute the program called “CUT”.
, ...........Represents a field separator. Commands with the symbol r or i in their Syntax description require
field separators. Commands with the symbol b or d in their Syntax description do not require field
separators (but they may be included). See General Guidelines table below.
@ ...........Represents a global specifier, where only one field need be entered. Applicable to all commands with
multiple command fields. (e.g., @OUT1 sets output #1 on for all I/O bricks).
< > ......Indicates that the item contained within the < > is optional, not required by that command.
NOTE: Do not confuse with <cr>, <sp>, and <lf>, which refer to the ASCII characters
corresponding to a carriage return, space, and line feed, respectively.
[ ] ......Indicates that the command between the [ ] must be used in conjunction with another command,
and cannot be used by itself.
* The ASCII character b can also be used within a command to precede a binary number. When the b is used in this
context, it is not to be replaced with a 0, 1, X, or x. Examples are assignments such as VARB1=b10001, and
comparisons such as IF(3IN=b1001X1).
Order of Precedence for Command Prefix Characters (from left to right):

<!><%><@><a_>
st
1 : Immediate
nd
2 : Task number
rd
3 : Apply to all I/O bricks, etc.
rd
3 : Address number
rd
3 : I/O brick number
Introduction 3
Syntax – General Guidelines
Guideline Topic Guideline Examples

Command Delimiters All commands must be separated by a Set acceleration to 10 rev/sec/sec:
(<cr>, <lf>, and :) delimiter. A carriage return is the most A10<cr>
commonly used. The colon (:)allows you to A10<lf>
place multiple commands on one line of code. A10: V25 : D25000 : GO<cr>
Neutral Characters Using neutral characters anywhere within a Set velocity to 10 rps:
(<sp> and <tab>) command will not affect the command. V<sp>10<cr>
Case Sensitivity There is no case sensitivity. Use upper or Initiate motion:
lower case letters within commands. GO1
go1
Comment Delimiter (;) All text between a comment delimiter and a Add a comment to the command:
command delimiter is considered program V10<tab> ;set velocity
comments.
Field Separator (,) Commands with the symbol r or i in their Display variable #1 on the RP240 at the current
Syntax description require field separators. cursor location with 3 characters displayed to
the left of the decimal, 2 to the right of the
decimal, and the sign:
DVAR1,3,2,1
Commands with the symbol b or d in their Enable error checking for hard limits and drive
Syntax description do not require field faults:
separators (but they may be included). ERROR0101
Global Command When you wish to set the command value Set the digital outputs (#1 & #2) active on all
Identifier (@) equal on all outputs, add the @ symbol at the digital outputs (onboard and external):
beginning of the command (enter only the @OUT11
value for one command field).
The @ symbol is also useful for checking Check the status of all digital outputs (onboard,
the status of all inputs or and on external I/O bricks):
outputs on all I/O bricks. @OUT
Bit Select Operator (.) The bit select operator allows you to affect Enable error-checking bit #9:
one or more binary bits without having to ERROR.9-1
enter all the preceding bits in the command. Enable error-check bits #9-12:
Syntax for setup commands: ERROR.9-1,1,1,1
[command name].[bit #]-[binary value]
IF statement based on value of axis status bit
Syntax for conditional expressions:
[command name].[bit #]=[binary value] #12 for axis #1:
IF(1AS.12=b1)
Left-to-right Math All mathematical operations assume VAR1=5+3*2

left-to-right precedence. Result: Variable 1 is assigned the value of 16
(8*2), not 11 (5+6).
Binary and Hexadecimal When making assignments with or Binary: IF(IN=b1x01)
Values comparisons against binary or hexadecimal
values, you must precede the binary value
with the letter “b” or “B”, and the hex value Hexadecimal: IF(IN=h7F)
with “h” or “H”. In the binary syntax, an “x”
simply means the status of that bit is ignored.
Multi-tasking Task Use the % command prefix to identify the Launch the “move1” program in Task 1:
Identifier (%) command with a specific task. 1%move1
Check the error status for Task 3:
3%TER
Check the system status for Task 3:
3%TSS
NOTE: The command line is limited to 80 characters (excluding spaces).

Syntax – Command Value Substitutions
Many commands can substitute one or more of its command field values with one of these substitution
items (demonstrated in the programming example below):
VAR ............. Places current value of the numeric variable in the corresponding field of the command.
VARB........... Uses the value of the binary variable to establish all the fields in the command.
VARI........... Places current value of the integer variable in the corresponding field of the command.
READ........... Information is requested at the time the command is executed.
DREAD ........ Reads the RP240’s numeric keypad into the corresponding field of the command.
DREADF...... Reads the RP240’s function keypad into the corresponding field of the command.
TW ............... Places the current value set on the thumbwheels in the corresponding field of the command.
DAT ............. Places the current value of the data program (DATP) in the corresponding field of the command.
Programming Example: (NOTE: The substitution item must be enclosed in parentheses.)

VAR1=15 ;
Set variable 1 to 15
A(VAR1) ;
Set acceleration to 15
VARB1=b101XX ;
Set binary variable 1 to 101XX (bits 4 & 5 not affected)
OUT(VARB1) ;
Turn on ouputs 1 & 3, turn off output 2, don’t change outputs 4 &
5.
VARS1="Enter Velocity" ; Set string variable 1 to the message "Enter Velocity"
V(READ1) ; Read in the velocity, output variable string 1 as the prompting
message
; 1. Operator sees "ENTER VELOCITY" displayed on the screen.
; 2. Operator enters velocity prefixed by !' (e.g., !'20).
HOMV(TW1) ; Read in the home velocity from thumbwheel set 1
HOMVF(DAT1) ; Read home final velocity from data program 1.
VARI1=2*3 ; Set integer variable 1 to 6 (2 multiplied by 3)
D(VARI2) ; Set the distance equal to the value of
; integer variable 2.
Rule of Thumb
Not all of the commands allow command field substitutions. In
general, commands with a binary command field ( in the
syntax) will accept the VARB substitution. Commands with a real
or integer command field (<r> or in the syntax) will accept
VAR, VARI, READ, DREAD, DREADF, TW or DAT.
Introduction 5
Programming Interface Tools
Motion Planner, a graphical programming interface, is provided as a tool for programming your Gem6K
drive. These are the functions provided:
• Configuration (motor selection, tuning, motor matching and damping, etc.)
• Terminal emulation for sending commands and checking drive status
• Program editor for developing program files to send to the drive
• Downloading and uploading program and operating system files to/from the drive
Motion Planner runs on the Windows 95, Windows 98 and Windows NT operating systems.
Motion Planner is installed from the “Motion Planner” CD which is included in your Gem6k drive
shipment (unless you ordered the -NK option).
Communications Server: Also available on the Motion Planner CD is the Communications Server
(COM6SRVR.EXE). COM6SRVR.EXE is a 32-bit OLE automation server that allows you to add Gem6K
(as well as Gemini and 6K) communication capability to your custom applications created with
programming languages such as Visual Basic, Visual C++, and Delphi. The Motion Planner installation
program installs COM6SRVR.EXE in the Motion Planner directory. Details on the Communication Server
functions are provided in the COM6SRVR Communications Server User Guide.
NOTE
The Gem6K commands described in this document can be used only with Motion
Planner or the COM6SRVR Communications Server.
Using Motion Planner with a Gem6K Drive
Motion Planner is a programming interface for the Gemini product family, as well as the 6K product
family. Motion Planner runs on the Windows 95, Windows 98 and Windows NT operating systems.
Below are instructions on how to use Motion Planner with your Gem6K.
Installing Motion Planner:

System Requirements:
• IBM-compatible PC with a Pentium 166 MHz or higher processor.
• Operating system: Microsoft Windows 95, Microsoft Windows NT Workstation 4.0, or
Microsoft Windows 98.
• 32MB RAM.
• Hard disk space: 16MB minimum.
• PCI VGA with 800 x 600 resolution or higher.
• CD-ROM drive or internet access for installation.
• Mouse or pointing device.
• RS-232C serial port for using serial RS-232C communications.
Insert the Motion Planner CD in your CD-ROM player. The installation program
automatically launches and displays this dialog:

Updating the Drive’s Operating System:
Gem6K drives are digital motor drives that run under an internal software operating system. The
operating system was loaded into your drive during the manufacturing process, and under
ordinary circumstances you will not need to update your drive’s operating system. However,
because Compumotor continues to add enhancements and address software bugs, you may want
to upgrade the operating system. You may obtain a new operating system file from the
Compumotor web site, or from Technical Support (see phone numbers on the inside cover of this
manual).
Web Site Download:
The operating system file is located in the software download section of the Compumotor
Online web site (http://www.compumotor.com). The file name is in this format: GEM_n_nn.ops.
For example, the operating system file for version 1.50 is called GEM_1_50.ops. Download
the file to the Motion Planner directory on your hard drive.
Update Procedure:
1. Using the Gem6K’s RS-232 connector (COM 2), connect to your computer’s RS-232
serial communication port (see instructions in the Hardware Installation Guide).
NOTE: You can download the operating system to only one drive unit at a time and you
must use RS-232 communication (no daisy chains).
NOTE: You must use the Gem6K’s RS-232 connector (COM 2), not the RS-232/485
connector (COM 1).
2. Launch Motion Planner.
3. In the Default Communications Settings dialog box, select your Gem6K drive and select
the serial port to which the drive is connected, then click “OK”.
4. Click on the Terminal tab to expose the terminal emulator.
5. From the Communications pull-down menu, select Download OS. When presented with
the Locate Gem6K Operating System dialog, locate the operating system file and click the
Open button. This initiates the download to the drive and displays the download status
dialog.
6. When the download is completed successfully, Motion Planner displays a confirmation
message. Also, the drive automatically resets itself and displays the TREV response in
the terminal emulator window. Check the TREV report to verify that the proper operating
system revision is now in the drive (e.g., the response “*TREV-GV-L3E_D1.05_F1.00”
indicates that the drive is using OS revision 1.05, denoted by “D1.05”).
NOTE: If the download is interrupted or corrupted, the drive will

flash the left LED (red) until a valid operating system is downloaded.
Introduction 7
Programmable I/O Bit Patterns
The Gem6K has programmable inputs and outputs. The total number of onboard inputs and outputs (analog
inputs, digital inputs and digital outputs) is fixed. The total number of expansion inputs and outputs depends on
your configuration of expansion I/O bricks.
These programmable I/O are represented by binary bit patterns, and it is the bit pattern that you reference when
programming and checking the status of specific inputs and outputs. The bit pattern is referenced 1 to n, from
left to right.
• Onboard I/O. For example, the status command to check all onboard inputs is TIN.
An example response is: *TIN0100_0.
Bit 1 Bit 5
• Expansion I/O. For example, the status command to check all digital inputs on I/O brick 2 is 2TIN.
An example response is: *2TIN0010_0110_1100_0000_XXXX_XXXX_XXXX_XXXX.
I/O Brick 2 Bit 1 Bit 32
Onboard I/O
I/O Location Programming Status Report, Assignment

Limit Inputs “DRIVE I/O” connector LIMFNC, LIMEN, LIMLVL TLIM, LIM
Inputs (digital) “DRIVE I/O” connector INFNC, INLVL, INEN, ONIN, TIN, IN
INPLC, INSTW
Outputs (digital) “DRIVE I/O” connector OUT, OUTFNC, OUTLVL, TOUT, [OUT]
OUTEN, OUTALL, OUTPLC,
OUTTW, POUT
Limit Inputs (“DRIVE I/O” connector)
Input bit pattern for LIM, TLIM, LIMEN, LIMFNC, and LIMLVL:
Bit # Pin # Function *
1 28 Positive end-of-travel limit
2 29 Negative end-of-travel limit
3 31 Home limit
* The functions listed are the factory default functions; other
functions may be assigned with the LIMFNC command.
Sample response to TLIM (limit inputs status) command:

*TLIM110

Inputs (“DRIVE I/O” connector)
Input bit pattern for TIN, IN, INFNC, INLVL,

INEN, INPLC, INSTW, and ONIN:
Bit # Pin # Function *

1 37 Input 1 (if assigned, TRIG-A)
2 38 Input 2 (if assigned, TRIG-B)
3 39 Input 3
4 34 Input 4
5 35 Input 5 (if assigned, TRIG-M)
* If the input is assigned the “trigger
interrupt” function with the INFNCi-H
command:
TRIG-A must be on Input 1
TRIG-B must be on Input 2
TRIG-M must be on input 5
Sample response to TIN (input status) command:

*TIN0010_1
Outputs (“DRIVE I/O” connector)
Output bit pattern for TOUT, [OUT], OUT, OUTFNC,

OUTLVL, OUTEN, OUTALL, OUTPLC, OUTTW, POUT:
Bit # Pin # Function

1 41 Output 1.
2 43 Output 2.
3 45 Output 3.
4 46 Output 4.
5 48 Output 5.
6 49 Output 6.
7 Relay Output 7.
Sample response to TOUT

(onboard outputs status) command:
*TOUT0000_000
Introduction 9
Expansion I/O Bricks
The Gem6K allows you to expand your system I/O by connecting up to eight I/O bricks (see Installation
Guide for connections). Expansion I/O bricks may be ordered separately (referred to as the “EVM32”). Each
I/O brick can hold from 1 to 4 of these I/O SIM modules in any combination:
SIM Type Programming Status Report, Assignment
Digital Inputs SIM (8 inputs) INFNC, INLVL, INEN, ONIN, INPLC, INSTW TIN, IN, TIO
Digital Outputs SIM (8 outputs) OUT, OUTFNC, OUTLVL, OUTEN, OUTALL, TOUT, [OUT], TIO
OUTPLC, OUTTW, POUT
Analog Inputs SIM (8 inputs) • Enable/Disable: ANIEN. • Voltage: TANI, ANI, TIO
• Voltage range: ANIRNG.
• Joystick setup: JOYAXH, JOYCDB,
JOYCTR, JOYEDB, JOYZ.
• Following master source: ANIMAS, FOLMAS
Analog Outputs SIM (8 outputs) ANO TANO, [ANO], TIO
Each I/O brick has a unique “brick address”, denoted with the “” symbol in the command syntax. The
I/O bricks are connected in series to the “EXPANSION I/O” connector on the Gem6K. The 1st I/O brick has
address #1, the next brick has address #2, and so on. (NOTE: If you leave out the brick address in the
command, the Gem6K will assume you are addressing the command to the onboard I/O.) Each I/O brick
has 32 I/O addresses, referenced as absolute I/O point locations:
• SIM slot 1 = I/O points 1-8
Example:
Gem6K I/O Brick #1 I/O Brick #2

Drive/Controller Slot #1 (I/O points 1-8) Slot #1 (I/O points 1-8)
Digital Inputs SIM Digital Outputs SIM
Slot #2 (I/O points 9-16) Slot #2 (I/O points 9-16)

Digital Inputs SIM Digital Inputs SIM

Digital Inputs SIM No SIMM installed

Analog Inputs SIM Digital Outputs SIM
Sample response to 1TIN (digital inputs status) command: Sample response to 2TOUT (digital outputs status) command:
*1TIN0000_0010_1100_0000_0100_0001_XXXX_XXXX *2TOUT0000_0000_XXXX_XXXX_XXXX_XXXX_0000_0000
The TIO command identifies the connected I/O bricks (and installed SIMs), including the status of each I/O point:
*BRICK 1: SIM Type Status Function
1-8: DIGITAL INPUTS 0000_0000 AAAA_AAAA
25-32: ANALOG INPUTS 0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000

1-8: DIGITAL OUTPUTS 0000_0000 AAAA_AAAA -- SINKING
17-24: NO SIM PRESENT
25-32: DIGITAL OUTPUTS 0000_0000 AAAA_AAAA -- SOURCING

Programming Error Messages
Depending on the error level setting (set with the ERRLVL command), when a programming error is created,
the Gem6K will respond with an error message and/or an error prompt. A list of all possible error messages is
provided in a table below. The default error prompt is a question mark (?), but you can change it with the
ERRBAD command if you wish.
At error level 4 (ERRLVL4—the factory default setting) the Gem6K responds with both the error message and
the error prompt. At error level 3 (ERRLVL3), the Gem6K responds with only the error prompt.
Error Response Possible Cause

ACCESS DENIED Program security feature enabled, but the program access input (INFNCi-Q or
LIMFNCi-Q) is not activated.
ALREADY DEFINED FOR THUMBWHEELS Attempting to assign an I/O function to an I/O that is already defined as a
thumbwheel I/O.
ALTERNATIVE TASK NOT ALLOWED Attempting to execute a LOCK command directed to another task.
AXES NOT READY Compiled Profile path compilation error.
COMMAND NOT IMPLEMENTED Command is not applicable to the Gem6K Series product.
COMMAND NOT ALLOWED IN PROGRAM Command is not allowed inside a program definition (between DEF and END).
COMMAND/DRIVE MISMATCH The command is not appropriate to the type of drive being used (e.g.,
attempting to execute a servo tuning command on a stepper axis)
ERROR: MOTION ENDS IN NON-ZERO Compiled Motion: The last GOBUF segment within a PLOOP/PLN loop does not
VELOCITY end at zero velocity, or there is no final GOBUF segment placed outside the loop.
FOLMAS NOT SPECIFIED No FOLMAS for the axis is currently specified. It will occur if FMCNEW, FSHFC, or
FSHFD commands are executed and no FOLMASØ command was executed, or
FOLMAS0 was executed.
INCORRECT AXIS Axis specified is incorrect.
INCORRECT BRICK NUMBER Attempted to execute a command that addresses an I/O brick that is not
connected to your Gem6K controller.
INCORRECT DATA Incorrect command syntax.

Following: Velocity (V), acceleration (A) or deceleration (AD) command is zero
(used by FSHFC & FSHFD).
INPUT(S) NOT DEFINED AS Attempted to execute JOYCDB, JOYCTR, JOYEDB, or JOYZ before executing
JOYSTICK INPUT JOYAXH to assign the analog input.
INSUFFICIENT MEMORY Not enough memory for the user program or compiled profile segments. This
may be remedied by reallocating memory (see MEMORY command description).
INVALID COMMAND Command is invalid because of existing conditions
Introduction 11
Programming Error Messages (continued)
INVALID CONDITIONS FOR COMMAND System not ready for command (e.g., LN command issued before the L
command).
Following (these conditions can cause an error during Following):

• The FOLMD value is too small to achieve the preset distance and still
remain within the FOLRN/FOLRD ratio.
• A phase shift cannot be performed:
FSHFD .... Error if already shifting or performing other time based move.
FSHFC .... Error if currently executing a FSHFD move, or if currently
executing another FSHFC move in the opposite direction.
• The FOLEN1 command was given while a profile was suspended by a
GOWHEN.
INVALID CONDITIONS FOR Average (AA) acceleration or deceleration command (e.g., AA, ADA, HOMAA,
S_CURVE ACCELERATION—FIELD n HOMADA, etc.) with a range that violates the equation ½A ≤ AA ≤ A (A is the
max. accel or decel command—e.g., A, AD, HOMA, HOMAD, etc.)
INVALID DATA Data for a command is out of range.

Following (these conditions can cause an error during Following):
• The parameter supplied with the command is valid.
FFILT Error if: smooth number is not 0-4
FMCLEN .. Error if: master steps > 999999999 or negative
FMCP ...... Error if: master steps > 999999999 or < -999999999
FOLMD .... Error if: master steps > 999999999 or negative
FOLRD .... Error if: master steps > 999999999 or negative
FOLRN .... Error if: follower steps > 999999999 or negative
FSHFC .... Error if: number is not 0-3
FSHFD .... Error if: follower steps > 999999999 or < -999999999
GOWHEN .. Error if: position > 999999999 or < -999999999
WAIT ...... Error if: position > 999999999 or < -999999999
• Error if a GO command is given in the preset positioning mode (MCØ) and:
FOLRN = zero
FOLMD = zero, or too small
(see Following chapter in the Programmer’s Guide)
INVALID FOLMAS SPECIFIED Following: An illegal master was specified in FOLMAS. A follower may never
use its own commanded position or feedback source as its master.
INVALID RATIO Following: Error if the FOLRN:FOLRD ratio after scaling is > 127 when a GO is
executed.
INVALID TASK IDENTIFIER Attempting to launch a PEXE or EXE command into the supervisor task (task 0).
LABEL ALREADY DEFINED Defining a program or label with an existing program name or label name.
MASTER SLAVE DISTANCE MISMATCH Attempting a preset Following move with a FOLMD value that is too small.
MAXIMUM COMMAND LENGTH EXCEEDED Command exceeds the maximum number of characters.
MAXIMUM COUNTS PER SECOND Velocity value is greater than 1,600,000 counts/sec.
EXCEEDED
MOTION IN PROGRESS Attempting to execute a command not allowed during motion (see Restricted
Commands During Motion section in the Programmer's Guide.)
Following: The FOLEN1 command was given while that follower was moving in
a non-Following mode.
NEST LEVEL TOO DEEP IFs, REPEATs, WHILEs, or GOSUBs nested greater than 16 levels (for each type).

Programming Error Messages (continued)
NO MOTION IN PROGRESS Attempting to execute a command that requires motion, but motion is not in
progress.
NO PATH SEGMENTS DEFINED Compiled Profile compilation error.
NO PROGRAM BEING DEFINED END command issued before a DEF command.
NOT ALLOWED IN PATH Compiled Profile path compilation error.
NOT VALID DURING FOLLOWING A GO command was given while moving in the Following mode (FOLEN1) and
MOTION while in the preset positioning mode (MCØ).
NOT VALID DURING RAMP A GO command was given while moving in a Following ramp and while in the
continuous positioning mode (MC1). Following status (FS) bit #3 will be set to 1.
A FOLEN command was given during one of these conditions:
• During a shift (FSHFC or FSHFD)
• During a change in ratio (FOLRN/FOLRD)
• During deceleration to a stop
OUTPUT USED AS OUTFNC Attempting to change an output that is not an OUTFNCi-A output.
PROFILE ALREADY MOVING Compiled Profile compilation error.
PROFILE NOT COMPILED Attempting to execute a profile that has not been compiled.
STRING ALREADY DEFINED A string (program name or label) with the specified name already exists.
STRING IS A COMMAND Defining a program or label that is a command or a variant of a command.
UNDEFINED LABEL Command issued to product is not a command or program name.
WARNING: POINTER HAS WRAPPED During the process of writing data (DATTCH) or recalling data (DAT), the pointer
AROUND TO DATA POINT 1 reached the last data element in the program and automatically wrapped
around to the first datum in the program.
WARNING: ENABLE INPUT INACTIVE ENABLE input is no longer connected to ground (GND).
WARNING: DEFINED WITH ANOTHER Duplicate I/O in multiple thumbwheel definitions.

TW/PLC
Introduction 13
Identifying Bad Commands
To facilitate program debugging, the Transfer Command Error (TCMDER) command allows you to transfer
the first command that the controller detects as an error. This is especially useful if you receive an error
message when running or downloading a program, because it catches and remembers the command that
caused the error.
Using Motion Planner: If you are typing the command in a live terminal emulator session, the controller
will detect the bad command and respond with an error message, followed by the ERRBAD error
prompt (?). If the bad command was detected on download, the bad command is reported
automatically (see example below).
NOTE: If you are not using Motion Planner, you'll have to type in the TCMDER command at the error
prompt to display the bad command.
Once a command error has occurred, the command and its fields are stored and system status bit #11
(reported in the TSSF, TSS and SS commands) is set to 1. The status bit remains set until the TCMDER
command is issued.
Example Error Scenario:
1. In Motion Planner's program editor, create and save a program with a programming error:
DEL badprg ; Delete a program before defining and downloading
DEF badprg ; Begin definition of program called badprg
MA1 ; Select the absolute preset positioning mode
A25 ; Set acceleration
AD11 ; Set deceleration
V5 ; Set velocity
VAR1=0 ; Set variable #1 equal to zero
GO1 ; Initiate move
IF(VAR1<)16 ; MISTYPED IF STATEMENT - should be typed as "IF(VAR1<16)"
VAR1=VAR1+1 ; If variable #1 is less than 16, increment the counter by 1
NIF ; End IF statement
END ; End programming of program called badprg
2. Using Motion Planner's terminal emulator, download the program to the Gem6K Series product. Notice
that an error response identifies the bad command as an “INCORRECT DATA” item and displays it:
> *NO ERRORS
*INCORRECT DATA
> *IF(VAR1<)16

S-Curve Acceleration/Deceleration Profiling
The Gem6K allows you to perform S-curve move profiles, in addition to the usual trapezoidal profiles.
S-curve profiling provides smoother motion control by reducing the jerk (rate of change) in acceleration
and deceleration portions of the move profile (see drawing below). Because S-curve profiling reduces jerk,
it improves position tracking performance, especially in linear interpolation applications.
Trapezoidal S-Curve
Velocity
Velocity
Time Time
Decel Accel
Decel Accel
Time Time
Maximum Jerk Less Jerk
S-Curve Programming Requirements

To program an S-curve profile, you must use the average accel/decel commands provided in the Gem6K
programming language. For every maximum accel/decel command (e.g., A, AD, HOMA, HOMAD, JOGA,
JOGAD, etc.) there is an average command for S-curve profiling (see table below).
Maximum Accel/Decel Commands: Average (“S-Curve”) Accel/Decel Commands:
Command Function Command Function
A Acceleration AA Average Acceleration
AD Deceleration ADA Average Deceleration
HOMA Home Acceleration HOMAA Average Home Acceleration
HOMAD Home Deceleration HOMADA Average Home Deceleration
JOGA Jog Acceleration JOGAA Average Jog Acceleration
JOGAD Jog Deceleration JOGADA Average Jog Deceleration
JOYA Joystick Acceleration JOYAA Average Joystick Acceleration
JOYAD Joystick Deceleration JOYADA Average Joystick Deceleration
LHAD Hard Limit Deceleration LHADA Average Hard Limit Deceleration
LSAD Soft Limit Deceleration LSADA Average Soft Limit Deceleration
Determining the S-Curve Characteristics

The command values for average accel/decel (AA, ADA, etc.) and maximum accel/decel (A, AD, etc.) determine
the characteristics of the S-curve. To smooth the accel/decel ramps, you must enter average accel/decel
command values that satisfy the equation ½ A ≤ AA < A , where A represents maximum accel/decel and
AA represents average accel/decel. Given this requirement, the following conditions are possible:
Introduction 15
Acceleration Setting Profiling Condition
AA > ½ A, but AA < A S-curve profile with a variable period of constant acceleration. Increasing the AA value above
the pure S-curve level (AA > ½ A), the time required to reach the target velocity and the target
distance is decreased. However, increasing AA also increases jerk.
AA = ½ A Pure S-curve (no period of constant acceleration—smoothest motion).
AA = A Trapezoidal profile (but can be changed to an S-curve by specifying a new AA value less than A).
AA < ½ A; or AA > A When you issue the GO command, the move will not be executed and an error message,
*INVALID CONDITIONS FOR S_CURVE ACCELERATION—FIELD n, will be displayed.
AA = zero S-curve profiling is disabled. Trapezoidal profiling is enabled. AA tracks A. (Track means the
command’s value will match the other command’s value and will continue to match whatever
the other command's value is set to.) However, if you enter an average decel command (e.g.,
ADA, HOMADA, etc.) equal to zero, you will receive the “INVALID DATA-FIELD n” error.
AA ≠ zero and AA ≠ A S-curve profiling is enabled only for standard moves. All subsequent standard moves for that
axis must comply with this equation: ½ A ≤ AA < A.
AA > ½ A Average accel/decel is raised above the pure S-curve level; this decreases the time required to
reach the target velocity and distance. However, increasing AA also increases jerk. After
increasing AA, you can reduce jerk by increasing A, but be aware that increasing A requires a
greater torque to achieve the commanded velocity at the mid-point of the acceleration profile.
No AA value ever entered Profile will default to trapezoidal. AA tracks A.
If you never change the A or AA deceleration commands, AA deceleration will track AA acceleration.
However, once you change A deceleration, AA deceleration will no longer track changes in AA acceleration.
For example, if you never change the AD or ADA command values, ADA will track the AA command value. But
once you change AD, the ADA command value will no longer track the changes in the AA command value.
Calculating Move Times. The calculation for determining S-curve average accel and decel move times is
as follows (calculation method identical for S-curve and trapezoidal moves):
Velocity 2 ∗ Distance
Time = or Time =
A avg A avg
Scaling affects the AA average acceleration (AA, ADA, etc.) the same as it does for the A maximum
acceleration (A, AD, etc.). See page 19 for details on scaling.
NOTE: Equations for calculating jerk are provided on page 17.
Programming Example (see move profile drawings below)

; In this example, prog1 executes a pure S-curve and takes 1 second
; to reach a velocity of 5 rps; prog2 executes a trapezoidal profile
; and takes 0.5 seconds to reach a velocity of 5 rps.
SCALE0 ; Disable scaling V
S-Curve
DEL Prog1 ; Delete program called prog1
DEF Prog1 ; Begin definition of prog1
MA0 ; Select incremental positioning mode
D40000 ; Set distance to 40,000 T
A10 ; Set max. accel to 10 revs/sec/sec 0 1 2 3
AA5 ; Set avg. accel to 5 revs/sec/sec V
AD10 ; Set max. decel to 10 revs/sec/sec Trapezoidal
ADA5 ; Set avg. decel to 5 revs/sec/sec
V5 ; Set velocity to 5 revs/sec
GO1 ; Execute motion
END ; End definition of prog1 T
0 1 2 3
DEL Prog2 ; Delete program called prog2 Move profiles

D40000 ; Set distance to 40,000
A10 ; Set max. accel to 10 revs/sec/sec
AA10 ; Set avg. accel to 10 revs/sec/sec
AD10 ; Set max. decel to 10 revs/sec/sec
ADA10 ; Set avg. decel to 10 rev/sec/sec
END ; End definition of program #2

Calculating Jerk
Rules of Motion:
da
A Jerk =
(Programmed Accel) dt
dv
a=
Zero Acceleration dt
dx
v= (x = distance)
V dt
(Programmed Velocity)
Assuming the accel profile starts

V2
when the load is at zero velocity and
the ramp to the programmed velocity
is not compromised:
2
A * AA
V1 Jerk = JA =
Zero Velocity V (A-AA)
Ø t1 t2 t3 A = programmed acceleration
(zero)
(A, AD, HOMAD, etc.)
A B C AA = average acceleration
(AA, ADA, HOMAA, etc.)
V = programmed velocity
(V, HOMV, etc.)
A A t1 ≥ t ≥ Ø a (t) = JA * t a (t) = acceleration at time t

t1 = v (t) = velocity at time t
2
JA JA * t d (t) = distance at time t
v (t) =
V A 2
t2 = - 3
AA JA JA * t
d (t) =
6
V
t3 =
AA B t2 ≥ t > t1 a (t) = A
2
NOTE: t3 - t2 = t1 A
v (t) = + A * (t - t1)
2JA
3 2
J A * t1 A * (t - t1)
2 2 d (t) = + + V1 * (t - t1)
JA * t1 A
V1 = = 6 2
2 2 * JA
A
2 C t3 ≥ t > t2 a (t) = A - (JA * (t - t2))
V2 = V - JA * (t3 - t)
2
2 * JA
v (t) = V -
2
2 3
V JA (t3 - t)
d (t) = + - V * (t3 - t)
2AA 6
2
Starting at a Non-Zero Velocity: If starting the acceleration profile with a non-zero A * AA
initial velocity, the move comprises two components: a constant velocity component, and Jerk = JA =
an s-curve component. Typically, the change of velocity should be used in the S-curve (VF - VO) (A-AA)
calculations. Thus, in the calculations above, you would substitute “(VF - VO)” for “V”
(VF = final velocity, VO = initial velocity). This is shown in the jerk equation (right).
Introduction 17
Units of Measure and Scaling
Units of Measure without Scaling
Scaling is disabled (SCALEØ) as the factory default condition:
• Stepper axes: All distance values entered are in commanded counts (sometimes referred to as motor
steps), and all acceleration, deceleration and velocity values entered are internally multiplied by the
DRES command value.
• Servo axes: Units of Measure
Motion Attribute Encoder or Resolver
Accel/Decel Revs/sec/sec *
Velocity Revs/sec *
Distance Counts **
* All accel/decel & velocity values are internally multiplied by the ERES command value.
** Distance is measured in the counts received from the feedback device.
What is Scaling?
Scaling allows you to program acceleration, deceleration, velocity, and position values in units of measure
that are appropriate for your application. The SCALE command is used to enable or disable scaling
(SCALE1 to enable, SCALEØ to disable). The motion type(s) you are using in your application determines
which scale factor commands you need to configure:
Type of Motion Accel/Decel Scaling Velocity Scaling Distance Scaling
Standard Point-to-Point Motion SCLA SCLV SCLD
Following SCLA SCLV SCLD for follower distances
SCLMAS for master distances
When Should I Define Scaling Factors?

Scaling calculations are performed when a program is defined or downloaded. Consequently, you must
enable scaling (SCALE1) and define the scaling factors (SCLD, SCLA, SCLV, SCLMAS) prior to defining
(DEF), uploading (TPROG), or running (RUN) the program. NOTE: All scaling settings (SCALE, SCLA,
SCLD, SCLV and SCLMAS) are automatically saved in the Gem6K’s battery-backed RAM.
RECOMMENDED: Place the scaling commands at the beginning of your program file, before the location
of any defined programs. This ensures that the motion parameters in subsequent programs in your program
file are scaled correctly. When you use Motion Planner’s scaling setup wizard, the scaling commands are
automatically placed in the appropriate location in your program file.
ALTERNATIVE: Scaling factors could be defined via a terminal emulator just before defining or
downloading a program. Because scaling command values are saved in battery-backed RAM (remembered
after you issue a RESET command or cycle power to the Gem6K), all subsequent program definitions and
downloads will be scaled correctly.
NOTES
• Scaling commands are not allowed in a program. If there are scaling commands in a program, the Gem6K
will report an error message (“COMMAND NOT ALLOWED IN PROGRAM”) when the program is downloaded.
• If you intend to upload a program with scaled motion parameters, be sure to use Motion Planner. Motion
Planner automatically uploads the scaling parameters and places them at the beginning of the program file
containing the uploaded program from the Gem6K. This ensures correct scaling when the program file is later
downloaded.

Acceleration & Deceleration Scaling (SCLA)
Stepper Axes: If scaling is enabled (SCALE1), all accel/decel values entered are internally multiplied by
the acceleration scaling factor to convert user units/sec/sec to commanded counts/sec/sec.
The scaled values are always in reference in commanded counts, regardless of the existence
of an encoder.
Servo Axes: If scaling is enabled (SCALE1), all accel/decel values entered are internally multiplied by
the acceleration scaling factor to convert user units/sec/sec to encoder or resolver
counts/sec/sec.
All accel/decel commands (e.g., A, AA, AD, HOMA, HOMAD, JOGA, etc.) are multiplied by the SCLA
command value.
As the accel/decel scaling factor (SCLA) SCLA value (counts/unit/unit) Decimal Places
changes, the resolution of the accel and decel 1 - 9 ............................................ 0
values and the number of positions to the right of 10 - 99 ........................................ 1
the decimal point also change (see table at right). 100 - 999 .................................... 2
An accel/decel value with greater resolution than 1000 - 9999 ................................ 3
allowed will be truncated (e.g., if scaling is set to 10000 - 99999 ............................ 4
SCLA1Ø, the A9.9999 command would be 100000 - 999999 ........................ 5
truncated to A9.9).
The following equations can help you determine the range of acceleration and deceleration values.
Axis Type Min. Accel or Decel (resolution) Max. Accel or Decel
Stepper 0.001 ∗ DRES 999.9999 ∗ DRES

SCLA SCLA
Servo 0.001 ∗ ERES 999.9999 ∗ ERES

Encoder Feedback: Encoder Feedback:
SCLA SCLA
Velocity Scaling (SCLV)

Stepper Axes: If scaling is enabled (SCALE1), all velocity values entered are internally multiplied by the
velocity scaling factor to convert user units/sec to commanded counts/sec. The scaled
values are always in reference to commanded counts (sometimes referred to as “motor
steps”).
Servo Axes: If scaling is enabled (SCALE1), all velocity values entered are internally multiplied by the
velocity scaling factor to convert user units/sec to encoder or resolver counts/sec.
All velocity commands (e.g., V, HOMV, HOMVF, JOGVH, JOGVL, etc.) are multiplied by the SCLV
command value.
As the velocity scaling factor (SCLV) changes, the velocity command's range and its decimal places also
change (see table below). A velocity value with greater resolution than allowed will be truncated. For
example, if scaling is set to SCLV10, the V9.9999 command would be truncated to V9.9.
SCLV Value Velocity Resolution Decimal Places

(counts/unit) (units/sec)
1-9 1 0
10 - 99 0.1 1
100 - 999 0.01 2
1000 - 9999 0.001 3
10000 - 99999 0.0001 4
100000 - 999999 0.00001 5
Introduction 19
Use the following table to determine the maximum velocity for your product type.
Max. Velocity for Stepper Axes Max. Velocity for Servo Axes
50 revs/sec 200 revs/sec
NOTE: These velocity limitations are hardware based. Make sure the velocity scaling value used with the desired velocity
(V command) does not exceed these velocities. The Gem6K will generate an error message if you try to exceed these
maximums. The maximum servo velocity may also be limited when using encoder feedback, depending on the encoder
resolution `used. Refer to the Gem6K Hardware Installation Guide for the maximum encoder input frequency.
Distance Scaling (SCLD and SCLMAS)

Stepper Axes: If scaling is enabled (SCALE1), all distance values entered are internally multiplied by the
distance scaling factor to convert user units to commanded counts (“motor steps”).
Servo Axes: If scaling is enabled (SCALE1), all distance values entered are internally multiplied by the
distance scaling factor to convert user units to encoder or analog input counts.
All standard motion distance commands (e.g., D, PSET, REG, SMPER, STRGTD) and are multiplied by the
SCLD command value. The only exception is for master distance values (see table below):
Scaling for Following Motion: The SCLD command defines the follower axis distance scale factor, and the
SCLMAS command defines the master’s distance scale factor. The Following-related commands that are affected
by SCLD and SCLMAS are listed in the table below.
Commands Affected by Master Scaling (SCLMAS) Commands Affected by Follower Scaling (SCLD)
FMCLEN: Master Cycle Length FOLRN: Follower-to-Master Ratio (Numerator)
FMCP: Master Cycle Position Offset FGADV: Geared Advance
FOLMD: Master Distance FSHFD: Preset Phase Shift
FOLRD: Follower-to-Master Ratio (Denominator) GOWHEN: Conditional GO (left-hand variable ≠ PMAS)
GOWHEN: Conditional GO (left-hand variable is PMAS) TPSHF & [ PSHF ]: Net Position Shift of Follower
TPMAS & [ PMAS ]: Position of Master Axis TPSLV & [ PSLV ]: Position of Follower Axis
TVMAS & [ VMAS ]: Velocity of Master Axis
As the SCLD or SCLMAS scaling factor changes, the distance command’s range and its decimal places also
change (see table below). A distance value with greater resolution than allowed will be truncated. For
example, if scaling is set to SCLD4000, the D105.2776 command would be truncated to D105.277.
SCLD or SCLMAS Value Distance Resolution Distance Range * Decimal

(counts/unit) (units) (units) Places
1-9 1.0 0 - ±999999999 0
10 - 99 0.10 0.0 - ±99999999.9 1
100 - 999 0.010 0.00 - ±9999999.99 2
1000 - 9999 0.0010 0.000 - ±999999.999 3
10000 - 99999 0.00010 0.0000 - ±99999.9999 4
100000 - 999999 0.00001 0.00000 - ±9999.99999 5
NOTE FRACTIONAL STEP TRUNCATION NOTE

If you are operating in the incremental mode (MAØ), or specifying master distance values with
FOLMD, when the distance scaling factor (SCLD or SCLMAS) and the distance value are multiplied,
a fraction of one step may be left over. This fraction is truncated when the distance value is used
in the move algorithm. This truncation error can accumulate over a period of time, when
performing incremental moves continuously in the same direction. To eliminate this truncation
problem, set SCLD or SCLMAS to 1, or a multiple of 10.

Scaling Example — Steppers (GT6K)
We configure for a 25,000 step/rev system attached to 5-pitch leadscrew. The user wants to program
motion parameters in inches; therefore the scale factor calculation is: 25,000 steps/rev x 5 revs/inch =
125,000 steps/inch. For instance, with a scale factor of 125,000, the operator could enter a move distance
value of 2.000 and the controller would send out 250,000 pulses, corresponding to two inches of travel.
SCALE1 ; Enable scaling
DRES25000 ; Set drive resolution to 25,000 steps/rev
SCLD125000 ; Allow user to enter distance in inches
SCLV125000 ; Allow user to enter velocity in inches/sec
SCLA125000 ; Allow entering accel/decel in inches/sec/sec
DRESET ; Reset the drive so the DRES value is accepted
Scaling Example — Servos (GV6K)

We configure for a 4,000 count/rev servo motor/drive system (using a 1000-line encoder) attached to a 5-
pitch leadscrew. The user wants to position in inches; therefore, the scale factor calculation is 4,000
counts/rev x 5 revs/inch = 20,000 counts/inch.
SFB1 ; Select encoder feedback
ERES4000 ; Set encoder resolution to 4000 steps/rev (post quadrature)
SCLD20000 ; Allow user to enter distance values in inches
SCLV20000 ; Allow user to enter velocity values in inches/sec
SCLA20000 ; Allow user to enter accel/decel values in inches/sec/sec
DRESET ; Reset the drive so the DRES value is accepted
Scaling Example — Following

Typically, the master and follower scale factors are programmed so that master and follower units are the
same, but this is not required. Consider the scenario below as an example.
The master is a 1000-line encoder (4000 counts/rev post-quadrature) mounted to a 50 teeth/rev pulley
attached to a 10 teeth/inch conveyor belt, resulting in 80 counts/tooth (4000 counts/50 teeth = 80
counts/tooth). To program in inches, you would set up the master scaling factor with the SCLMAS800
command (80 counts/tooth ∗ 10 teeth/inch = 800 counts/inch).
The follower is a servo motor with position feedback from a 1000-line encoder (4000 counts/rev). The
motor is mounted to a 4-pitch (4 revs/inch) leadscrew. Thus, to program in inches, you would set up the
follower scaling factor with the SCLD16000 command (4000 counts/rev ∗ 4 revs/inch = 16000
counts/inch).
SCLMAS800 ; Master scaling (80 counts/tooth * 10 teeth/inch = 800 counts/inch)
SCLD16000 ; Follower scaling (4000 counts/rev * 4 revs/inch = 16000 counts/inch)
Introduction 21
Special Programming
Characters
% Task Identifier
Type Multi-Tasking Product Rev
Syntax <a_>i%<command> GT6K 6.0
Units i = task number
GV6K 6.0
Range 1-10
Default 1
Response n/a
See Also LOCK, [SWAP], [TASK], TSKAX, TSKTRN, TSWAP, TTASK
Use the Task Identifier (%) Gx6K Drive

prefix to specify that the
associated command will affect Task Management Program Memory
the indicated task number. For Supervisor
most simple multi-tasking 1%move1 Assign Task 1 to
applications, the % prefix is execute the
"move1" program
Program: move1
used to start a program running DEF move1
in a specific task. For example, ---
---
---
the drawing on the right Task 1 END
Execute the
illustrates how the 1%move1 "move1" program.
command starts the program
called “move1” in task 1
(specified with the 1% prefix).
Command Descriptions 23
Because the % prefix specifies the task number that the Gx6K Drive
associated command will affect, new tasks can be
started from within other tasks, as shown in the Task Management Program Memory
drawing on the right.
Supervisor
Program: main
Within a program in a task, it is not necessary to use Running "main" DEF main
the % prefix unless trying to initiate a program or ---
---
1%move1
command in a different task. For example, if the ---
---
fill program running in task 3 executes a COMEXC1 Task 1
END
command, only task 3 is placed into COMEXC1 mode. Execute "move1" Program: move1
If the fill program running in task 3 also executes a DEF move1
---
---
2%PS command, task 3 executes the command, but the 3%fill
---
program being executed in task 2 is paused, not task 3. ---
END
Task 3
Execute "fill"
How the Task Supervisor Works: The “Task Supervisor” (also referred to as Task Ø) is the main program
execution environment. It contains the command buffer and parser. Immediate commands and commands
executed from the communications buffer are implicitly directed to affect the supervisor unless explicitly
directed to a task with the % prefix. Only the supervisor executes buffered commands from the
communications buffer. If the supervisor is executing a program, incoming commands will be buffered,
not executed. If the supervisor is not executing a program, it will execute commands from the input
command buffer, even if the other tasks are executing programs. If a command in the command buffer has
a task prefix, it is still executed by the supervisor, but affects the task specified by the prefix.
[!] mmediate Command Identifier

Type Operator (Other) Product Rev
Syntax <a_>!<command>
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also COMEXC
The Immediate Command Identifier (!) changes a buffered command into an immediate command. All
immediate commands are processed immediately, even before previously entered buffered commands.
All Gem6K commands are buffered.
The commands that use the ! identifier are identified in the Syntax portion of the command description.
NOTE
A command with the ! prefix cannot be stored in a program.

[@] Global Command Identifier
Syntax @<command><field1>
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ANIEN, ANIRNG, INEN, INLVL, OUT, OUTALL, OUTEN, OUTLVL, TANI,
TANO, TIN, TIO, TOUT
The Global Command Identifier (@) is used to set the value of all fields to the value entered only in the first
field. For example, @OUT1 sets output #1 on for all I/O bricks. If you have any doubts about which
commands can use the @ symbol, refer to the Syntax portion of the command description.
; Begin Comment
Syntax ;<this is a comment>
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also None
The Begin Comment (;) command is used to comment application programs. The comment begins with a
semicolon (;) and is terminated by a command delimiter. The comment is not stored in a program. An
example of using the comment delimiter is as follows:
DEF pick ; Begin definition of program pick<cr>
$ Label Declaration
Syntax <a_><!>$<t>
GT6K 6.0
Units t = text name
GV6K 6.0
Range Text name of 6 characters or less
Default n/a
Response n/a
See Also DEF, DEL, END, GOSUB, GOTO, JUMP, RUN, TLABEL
The Label Declaration ($) command defines the current location as the label specified. A label consists of 6
or fewer alpha-numeric characters and must start with an alpha-character, not a number. Labels can only be
defined within a program or subroutine. The GOTO, GOSUB or JUMP commands can be used to branch to a
label. The RUN command can also be used to start executing statements at a label. The label cannot be
deleted by a DEL command. However, when the program that contains the label is deleted, all labels
contained within the program will be deleted.
NOTE: The maximum number of labels possible is 600.
A label declaration cannot consist of any of the following characters:
!, _, #, $, %, ^, &, *, (, ), +, -, {, }, \, |, ", :, ;, ', <, >, ,, ., ?, /, =
NOTE: A label cannot have the same name as a Gem6K command. For example, $A and $A123 are illegal
labels.
Example
DEF pick ; Begin definition of program called pick
GO1 ; Initiate motion
IF(VAR1=5) ; If variable 1 = 5 then do commands between IF and ELSE,
; otherwise commands between ELSE and NIF
GOTO pick1 ; Goto label pick1
ELSE ; Else part of IF command
GOTO pick2 ; Goto label pick2
NIF ; End IF command
$pick1 ; Label declaration for pick1
TAS ; Report axis status
BREAK ; Break out of current subroutine or program
$pick2 ; Label declaration for pick2
TPC ; Report commanded position
END ; End program definition
RUN pick ; Execute program named pick
[#] Step Through a Program

Syntax <a_>!#
GT6K 6.0
Units i = number of commands to execute from the buffer
GV6K 6.0
Range i = 1 - 200
Default 1
Response n/a
See Also DEF, HELP, STEP, TRACE, TRANS
This command controls the execution of a program or sequence when the single step mode is enabled
(STEP1). Each time you enter the !# command followed by a delimiter, i commands in the sequence
buffer will be executed. A !# followed by a delimiter will cause one command to be executed.
Single step mode can be advantageous when trying to debug a program.
Example:
DEF tst ; Begin definition of program named tst
V1 ; Set velocity to 1 unit/sec
A10 ; Set acceleration to 10 units/sec/sec
D1 ; Set distance to 1 unit
OUT11X1 ; Turn on on-board programmable outputs 1, 2, and 4,
; leave 3 unchanged
STEP1 ; Enable single step mode
RUN tst ; Execute program named tst
NOTE: After entering the command RUN no action will occur because single step mode has been enabled.
Single step operation is as follows:
!#2 ; First 2 commands in the program tst are executed,
; commands to be executed are V1 and A10.
!# ; Execute 1 command from program; command to execute is D1
!#1 ; Execute 1 command from program; command to be executed is GO1
!#2 ; Execute 2 commands from program; commands to be executed are
; OUT11X1 and END

' Enter Interactive Data
Syntax !'<numeric data>
GT6K 6.0
Units Numeric data is command-dependent
GV6K 6.0
Range Numeric data is command-dependent
Default n/a
Response n/a
See Also [ READ ], VARI, VARS
To enter data interactively, two operations must occur. First, numeric information must be requested.
Requesting the numeric information is accomplished with the VARx=READy command. The x specifies the
numeric variable to place the data into, and the y specifies the string variable to transmit before the data is
entered. Numeric information can also be requested by placing the READ command in place of a command
argument (e.g., A(READ1),12.52,(READ2),5.62). After the data has been requested, a numeric
response must be provided. The numeric response must be preceded by the interactive data specifier (!')
and followed by a delimiter (<cr> or <lf>).
Command processing will pause while waiting for data.
Example:
VARS1="Enter the count > " ; Set string variable 1 equal to the message
VAR5=READ1 ; Transmit string variable 1, and wait for numeric data in the
; form of !'<data>. Once numeric data has been received, place
; it in numeric variable 5
!'65.12 ; Variable 5 will receive the value 65.12
[.] Bit Select

Syntax <command>.i
GT6K 6.0
Units i = bit number
GV6K 6.0
Range Command-dependent
Default None
Response n/a
See Also [ AS ], [ ER ], ERROR, [ IN ], INEN, INLVL, [ INO ], INTHW, LIMLVL,
[ MOV ], ONIN, ONUS, OUT, OUTEN, OUTLVL, POUT, [ SS ], TAS, TER, TIN,
TINO, TIO , TOUT, TSS, TUS, [ US ]
The Bit Select (.) operator specifies which bit to select. The primary purpose of this command is to let the
user specify a specific bit (or range), instead of having to type in an entire bit string.
When using the bit operator in a comparison, the bit operator must always come to the left of the
comparison. For example, the command IF(AS.12=b1) is legal, but IF(b1=AS.12) is illegal.
Command Shortcut Examples (affect only one binary bit location):
• Activate outputs at I/O location Brick 3, I/O point 9: 3OUT.9=1
• Enable analog input at I/O location Brick 2, I/O point 2: 2ANIEN.2=E
• Enable error-checking bit 6 for task 3: 3%ERROR.6=1
Example:
VARB2=ER.12 ; Error status bit 12 assigned to binary variable 2
VARB2 ; Response (if bit 12 is set to 1):
; *VARB2=XXXX_XXXX_XXX1_XXXX_XXXX_XXXX_XXXX_XXXX
2OUT.5=1 ; Activate the output at location Brick 2, I/O point 5
["] Begin and End String
Syntax "<message>" (see below for possibilities)
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also DWRITE, VARS, WRITE, WRVARS
There are three commands that deal with string variables, or messages. The first of these commands is the
VARS command. This command sets a string variable equal to a specific message (e.g., VARS1="Enter
part count"). The message must be placed in quotes for it to be recognized. The same can be said for the
WRITE and DWRITE commands. Their messages must also be placed in quotes (e.g., WRITE"Today is the
first day of the rest of your life").
Syntax possibilities: VARSn="<message>" where n equals the string variable number

WRITE"<message>"
DWRITE"<message>"
There are three ASCII characters that cannot be used within the quotes (:, ", and ;). These characters can
be specified in the string by using the backslash character (\) in combination with the ASCII decimal value
for the character. For example, if you wanted to display the message "WHY ASK WHY" in quotes, you would
use the following syntax: WRITE"\34WHY ASK WHY\34".
An ASCII table is provided in Appendix B. Common characters and their ASCII equivalent value:
Character Description ASCII Decimal Value
<lf> Line Feed 10
<cr> Carriage Return 13
" Quote 34
: Colon 58
; Semi-colon 59
\ Backslash 92 (cannot be used with DWRITE)
[\] ASCII Character Designator

Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also VARS, WRITE, WRVARS
The ASCII Character Designator (\) operator is used to place a character in a string that is normally not
represented by a keyboard character. The (\) operator can be used within the VARS or the WRITE
commands. The syntax for the (\) operator is as follows:
WRITE"\", Where is the ASCII decimal equivalent of the character to be placed in the string.
VARS1="\", Where is the ASCII decimal equivalent of the character to be placed in the string.
There are three ASCII characters that cannot be used within the quotes (:, ;, and "). These characters must
be specified in the string by using the backslash character (\) in combination with the ASCII decimal value
for the character.

An ASCII table is provided in Appendix B. Common characters and their ASCII equivalent value:

<lf> Line Feed 10
" Quote 34
: Colon 58
; Semi-colon 59
\ Backslash 92
Example:
WRITE"cd\92GEM6K\13\10" ;Displays: cd\GEM6K<cr><lf>
[=] Assignment or Equivalence

Type Operator (Mathematical or Relational) Product Rev
Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ > ], [ >= ], [ < ], [ <= ], [ <> ], [ AND ], IF, [ OR ],
UNTIL, VAR, VARB, VARI, VARS, WAIT, WHILE
The assignment or equivalence operator (=) is used to either assign a value to a variable, or compare two
values and/or variables. The (=) operator is limited to 1 assignment operation per line. It is acceptable to
state VAR1=25, but it is unacceptable to state VAR1=25=VAR2.
More than 1 equivalence operator can be used in a command; however, the total number of relational
operators used in a line is limited by the command length limitation (80 characters), not the number of
relational operators (e.g., the command IF(VAR1=1 AND VAR2=4 AND VAR3=4) is a legal command).
When (=) is used as an assignment operator, it can be used with these commands: VAR, VARI, VARB, VARS.
When (=) is used as an equivalence operator, it can be used with these commands: IF, WHILE, UNTIL,
WAIT.
[>] Greater Than

Type Operator (Relational) Product Rev
Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ >= ], [ < ], [ <= ], [ <> ], [ AND ], IF, [ OR ], UNTIL, WAIT,
WHILE
The greater than (>) operator is used to compare two values. If the value on the left of the operator is
greater than the value on the right of the operator, then the expression is TRUE. If the value on the left is
less than or equal to the value on the right of the operator, then the expression is FALSE. The greater than
operator (>) can only be used to compare two values.
More than one (>) operator can be used within a single command; however, the total command length is
limited to 80 characters.
The (>) operator can be used in conjunction with the IF, WHILE, UNTIL, and WAIT commands.
Examples of valid commands are IF(VAR1>1) and WHILE(VAR1>1 AND VAR2>3). An example of an
invalid command is IF(5>VAR1>1).
[ >= ] Greater Than or Equal
Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ > ], [ < ], [ <= ], [ <> ], [ AND ], IF, [ OR ], UNTIL, WAIT,
WHILE
The greater than or equal (>=) operator is used to compare two values. If the value on the left of the
operator is greater than or equal to the value on the right of the operator, then the expression is TRUE. If the
value on the left is less than the value on the right of the operator, then the expression is FALSE. The
greater than or equal operator (>=) can only be used to compare two values.
More than one (>=) operator can be used within a single command; however, the total command length is
The (>=) operator can be used in conjunction with the IF, WHILE, UNTIL, and WAIT commands.
Examples of valid commands are IF(VAR1>=1) and WHILE(VAR1>=1 AND VAR2>=3). An example of an
invalid command is IF(5>VAR1>=1).
[<] Less Than

Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ > ], [ >= ], [ <= ], [ <> ], [ AND ], IF, [ OR ], UNTIL, WAIT,
WHILE
The less than (<) operator is used to compare two values. If the value on the left of the operator is less than
the value on the right of the operator, then the expression is TRUE. If the value on the left is greater than or
equal to the value on the right of the operator, then the expression is FALSE. The less than operator (<) can
only be used to compare two values.
More than one (<) operator can be used within a single command; however, the total command length is
The (<) operator can be used in conjunction with the IF, WHILE, UNTIL, and WAIT commands.
Examples of valid commands are IF(VAR1<1) and WHILE(VAR1<1 AND VAR2<3). An example of an
invalid command is IF(1<VAR1<54).
[ <= ] Less Than or Equal

Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ > ], [ < ], [ >= ], [ <> ], [ AND ], IF, [ OR ], UNTIL, WAIT,
WHILE
The less than or equal (<=) operator is used to compare two values. If the value on the left of the operator is
less than or equal to the value on the right of the operator, then the expression is TRUE. If the value on the

left is greater than the value on the right of the operator, then the expression is FALSE. The less than or
equal operator (<=) can only be used to compare two values.
More than one (<=) operator can be used within a single command; however, the total command length is
The (<=) operator can be used in conjunction with the IF, WHILE, UNTIL, and WAIT commands.
Examples of valid commands are IF(VAR1<=1) and WHILE(VAR1<=1 AND VAR2<=3). An example of an
invalid command is IF(1<VAR1<=54).
[ <> ] Not Equal

Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ >= ], [ < ], [ <= ], [ AND ], IF, [ OR ], UNTIL, WAIT, WHILE
The not equal (<>) operator is used to compare two values. If the value on the left of the operator is not
equal to the value on the right of the operator, then the expression is TRUE. If the value on the left is equal
to the value on the right of the operator, then the expression is FALSE. The not equal operator (<>) can only
be used to compare two values.
More than one (<>) operator can be used within a single command; however, the total command length is
The (<>) operator can be used in conjunction with the IF, WHILE, UNTIL, and WAIT commands.
Examples of valid commands are IF(VAR1<>1) and WHILE(VAR1<>1 AND VAR2<=3). An example of an
invalid command is IF(1<VAR1<>54).
[()] Operation Priority Level

Type Operator (Mathematical) Product Rev
Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ - ], [ * ], [ / ], [ SQRT ], VAR, VARI
The Operation Priority Level operator determines which operation to do first in a mathematical expression.
For example, if you want to add 5 to 6 times 3, you can specify VAR1=6*3+5 or VAR1=5 + (6*3).
More than one set of parentheses can be used in a mathematical expression; however, they cannot be
nested.
Example of valid command: VAR1=(VAR2 * 3) * (3 + VAR4)
[+] Addition
Syntax See below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ () ], [ - ], [ * ], [ / ], [ SQRT ], VAR, VARI, VARB
The addition (+) operator adds the value on the left of the operator to the value on the right of the operator.
The addition operator can only be used in conjunction with the VAR, VARI and VARB commands.
The total command length must be less than 80 characters. The order of precedence is left to right. The
Operation Priority Level ( () ) operators can be used; however, they cannot be nested.
Examples of valid commands: VAR1=1+2+3+4+5+6+7+8+9
VAR2=VAR1+1+(5*3)
VARB1=b1101 + b11001
[–] Subtraction
Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ () ], [ + ], [ * ], [ / ], [ SQRT ], VAR, VARI, VARB
The subtraction (-) operator subtracts the value to the right of the operator from the value to the left of the
operator. The subtraction operator can only be used in conjunction with the VAR, VARI and VARB
commands.
Examples of valid command s: VAR1=1-2-3-4-5-6-7-8-9
VAR2=VAR1-1+(5*3)
VARB1=b111101 - b11001
[*] Multiplication
Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ () ], [ + ], [ - ], [ / ], [ SQRT ], VAR, VARI, VARB
The multiplication (*) operator multiplies the value to the right of the operator with the value to the left of
the operator. The multiplication operator can only be used in conjunction with the VAR, VARI and VARB
commands. (Values assigned to VARI variables are truncated to integer values.)
Examples of valid commands: VAR1=1*2*3*4*5*6*7*8*9
VAR2=VAR1-1+(5*3)
VARB1=b111101 * b11001

[/] Division
Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ () ], [ + ], [ - ], [ * ], [ SQRT ], VAR, VARI, VARB
The division (/) operator divides the value to the left of the operator by the value on the right of the operator.
The result of the division is specified to five decimal places (VARI integer variables are truncated). The
division operator can only be used in conjunction with the VAR, VARI and VARB commands.
Examples of valid commands: VAR1=1/2/3/4/5/6/7/8/9
VAR2=VAR1-1/(5*3)
VARB1=b111101 / b11001 DIVISION BY ZERO IS NOT ALLOWED.
[&] Boolean And

Type Operator (Bitwise) Product Rev
Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ | ], [ ~ ], [ ^ ], [ << ],[ >> ], VAR, VARI, VARB
The Boolean And (&) operator performs a logical AND on the two values to the left and right of the
operator when used with the VAR or VARI command. The Boolean And (&) performs a bitwise AND on the
two values to the left and right of the operator when used with the VARB command.
For a logical AND (using VAR or VARI), the possible combinations are as follows:
positive number & positive number = 1
positive number & zero or a negative number = 0
zero or negative number & positive number = 0
zero or negative number & zero or negative number = 0
Example: VAR1=5 & -1
Result: VAR1=0
For a bitwise AND (using VARB), the value on the left side of the & operator has each of its bits ANDed
with the corresponding bit of the value on the right side of the operator. Each bit comparison will be
composed of 9 possible combinations:
1&1=1 X&X=X
1&0=0 1&X=X
0&1=0 X&1=X
0&0=0 0&X=0
X&0=0
Example: VARB1=b0000 1000 & b1000 1011 1
Response to VARB1 is *VARB1=0000_1000_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
Example: VARB1=h32FD & h23
Response to VARB1 is *VARB1=0100_0100_0000_0000_0000_0000_0000_0000
Example: VARB1=h23 & b1101
Response to VARB1 is *VARB1=0100_XX00_0000_0000_0000_0000_0000_0000
[|] Boolean Inclusive Or
Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ & ], [ ~ ], [ ^ ], [ << ], [ >> ], VAR, VARI, VARB
The Boolean Inclusive Or (|) operator performs a logical OR on the two values to the left and right of the
operator when used with the VAR or VARI command. The Boolean Inclusive Or (|) performs a bitwise OR
on the two values to the left and right of the operator when used with the VARB command.
For a logical OR (using VAR or VARI), the possible combinations are as follows:
positive number | positive number = 1
positive number | zero or a negative number = 1
zero or negative number | positive number = 1
zero or negative number | zero or negative number = 0
Example: VAR1=5 | -1
Result: VAR1=1
For a bitwise OR (using VARB), the value on the left side of the | operator has each of its bits ORed with
the corresponding bit of the value on the right side of the operator. Each bit comparison will be composed
of 9 possible combinations:
1|1=1 X|X=1
1|0=1 1|X=1
0|1=1 X|1=1
0|0=0 0|X=X
X|0=X
Example: VARB1=b1001 01X1 XX11 | b1000 1011 10
Response to VARB1 is *VARB1=1001_1111_1X11_XXXX_XXXX_XXXX_XXXX_XXXX
Example: VARB1=h1234 | hFAD31
Example: VARB1=h23 | b1101 001X 001X 1X11
Response to VARB1 is *VARB1=1101_111X_001X_1X11_XXXX_XXXX_XXXX_XXXX
[^] Boolean Exclusive Or

Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ & ], [ ~ ], [ | ], [ << ], [ >> ], VAR, VARI, VARB
The Boolean Exclusive Or (^) operator performs a logical exclusive OR on the two values to the left and right
of the operator when used with the VAR or VARI command. The Boolean Exclusive Or (^) performs a bitwise
exclusive OR on the two values to the left and right of the operator when used with the VARB command.
For a logical exclusive OR (using VAR or VARI), the possible combinations are as follows:

positive number ^ positive number = 0
positive number ^ zero or a negative number = 1
zero or negative number ^ positive number = 1
zero or negative number ^ zero or negative number = 0
Example: VAR1=5 ^ -1
Result: VAR1=1
For a bitwise exclusive OR (using VARB), the value on the left side of the ^ operator has each of its bits
exclusive ORed with the corresponding bit of the value on the right side of the operator. Each bit
comparison will be composed of 9 possible combinations:
1^1=0 X^X=X
1^0=1 1^X=X
0^1=1 X^1=X
0^0=0 0^X=X
X^0=X
Example: VARB1=b0000 1111 XXX1 ^ b10XX 10XX 10XX
Response to VARB1 is *VARB1=10XX_01XX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
Example: VARB1=h32FD ^ h6A
Example: VARB1=h7FFF ^ b1101 1111 0000 1101
Response to VARB1 is *VARB1=0011_0000_1111_0010_XXXX_XXXX_XXXX_XXXX
[ ~() ] Boolean Not

Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ & ], [ ^ ], [ | ], [ << ], [ >> ], VAR, VARI, VARB
The Boolean Not (~) operator performs a logical NOT on the value immediately to its right when used with
the VAR or VARI command. The Boolean NOT (~) performs a bitwise NOT on the value immediately to its
right when used with the VARB command. Parentheses ( () ) are required.
For a logical NOT (using VAR or VARI), the possible combinations are as follows:
~ (positive number) = 0
~ (zero or a negative number) = 1
Example: VAR1=~(5) ; Result: VAR1=0
Example: VAR1=~(-1) ; Result: VAR1=1
For a bitwise NOT (using VARB), each bit is NOTed.
Example: VARB1=~(b0000 1000 1XX1)
Response to VARB1 is *VARB1=1111_0111_0XX0_XXXX_XXXX_XXXX_XXXX_XXXX
Example: VARB1=~(h32FD)
The total command length must be less than 80 characters. The order of precedence is left to right.
The Boolean Not (~) operator also has one additional use. It can be used to change the sign of the distance
(D) command. For example, if the distance has the value *D+25000, by issuing D~ the new value for
distance would be *D-25000.
[ << ] Shift from R to L (Bit 32 to Bit 1)
Type Operator (Bitwise Product Rev
Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ & ], [ ^ ], [ | ], [ ~ ], [ >> ], VAR, VARI, VARB
The Shift R to L (<<) operator shifts a binary value from right to left (reducing its value) the number of bits
specified. Zeros are shifted into the most significant bit locations. The number of bits to shift by is specified
with the value immediately to the right of the (<<) operator, 32 maximum. The number of places to shift
must be specified in either binary or hexadecimal format. (The bits in the binary variable are displayed
from 1 to 32, left to right, and shifting from right to left causes bits to be shifted from 32 to 1.)
Example: VARB1=b0000 1000 1XX1 << b01
Response to VARB1 is *VARB1=0010_001X_X1XX_XXXX_XXXX_XXXX_XXX_XX00
Example: VARB1=b1111 0000 1111 << b001
Response to VARB1 is *VARB1=0000_1111_XXXX_XXXX_XXXX_XXXX_XXXX_0000
Example: VARB1= h0000 E3 << hA
[ >> ] Shift from L to R (Bit 1 to Bit 32)

Syntax See Below
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ & ], [ ^ ], [ | ], [ ~ ], [ << ], VAR, VARI, VARB
The Shift L to R (>>) operator shifts a binary value from left to right (increasing its value) the number of
bits specified. Zeros are shifted into the least significant bit locations. The number of bits to shift by is
specified with the value immediately to the right of the (>>) operator, 32 maximum. The number of places
to shift must be specified in either binary or hexadecimal format. (The bits in the binary variable are
displayed from 1 to 32, left to right, and shifting from left to right causes bits to be shifted from 1 to 32.)
Example: VARB1=b0000 1000 1XX1 >> b01
Response to VARB1 is *VARB1=0000_0010_001X_X1XX_XXXX_XXXX_XXXX_XXXX
Example: VARB1=b1111 0000 1111 >> b001
Response to VARB1 is *VARB1=0000_1111_0000_1111_XXXX_XXXX_XXXX_XXXX
Example: VARB1= h45FA2 >> h4

[ Send Response to Both Communication Ports
Type Communication Interface Product Rev
Syntax <a_><!> [ <command><field1>
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also BOT, PORT, ], ECHO, EOL, EOT, LOCK
The Send Response to All Ports ( [ ) command is used to send the response from the command which
follows it to both communication ports. If a syntax error occurs, an error message will be sent to both
communication ports.
NOTE: COM1 refers to the “RS-232/485” or “ETHERNET” connector, and COM2 refers to the “RS-232”
connector.
Example:
[TER ;Transfer TER Status to both communication ports
] Send Response to Alternate Communication Port

Syntax <a_><!> ] <command><field1>
GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also BOT, PORT, [, ECHO, EOL, EOT, LOCK
The Send Response to Alternate Port ( ] ) command is used to send the response from the command which
follows it to the alternate port from the one selected. If a report back is requested from port COM1, the
response will be sent out port COM2, and vice-versa. If a command is in a stored program, the report will
be sent out the alternate port from the one selected by the PORT command. If a syntax error occurs an error
message will be sent to the alternate port from the one selected.
NOTE: COM1 refers to the “RS-232/485” or “ETHERNET” connector, and COM2 refers to the “RS-232”
connector.
Example:
; **********************************************************************
; In this example, we place the "]TAS" statement in a program so that
; we can select the port (in this case, "PORT1" selects COM1) as a
; reference. Otherwise, executing "]TAS" outside of a program sends
; the response to whatever port you are not communicating through.
; **********************************************************************
DEF COM ; Begin definition of program called "COM"
PORT1 ; Select COM1
TER ; Transfer TER Status to port COM1
]TAS ; Transfer TAS Status to port COM2
Command
Descriptions
A Acceleration
Type Motion Product Rev
Syntax <a_><!>A<r> GT6K 6.0
Units r = units/sec/sec
GV6K 6.0
(linear motors: see DMEPIT for linear/rotary conversion)
Range 0.0001 – 9999.9999
Default 10.0000
Response A: *A10.0000
See Also [ A ], AA, AD, ADA, DRES, ERES, GO, MC, SCALE, SCLA, TSTAT,
DMEPIT, IF, VARI, WAIT
The Acceleration (A) command specifies the acceleration rate to be used upon executing the next GO command.
UNITS OF MEASURE and SCALING: refer to page 16.
The acceleration remains set until you change it with a subsequent acceleration command. Accelerations
outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD x, where x is the
field number. When an invalid acceleration is entered the previous acceleration value is retained.
If the Deceleration (AD) command has not been entered, the acceleration (A) command will set the
deceleration rate. Once the deceleration (AD) command has been entered, the acceleration (A) command no
longer affects deceleration.
ON-THE-FLY CHANGES: You can change acceleration on the fly (while motion is in progress) in two
ways. One way is to send an immediate acceleration command (!A) followed by an immediate go
command (!GO). The other way is to enable the continuous command execution mode (COMEXC1) and
execute a buffered acceleration command (A) followed by a buffered go command (GO).
Example:
SCLA25000 ; Set the acceleration scaling factor for to
; 25000 counts/unit
SCLV25000 ; Set the velocity scaling factor to 25000 counts/unit
SCLD1 ; Set the distance scaling factor 1 count/unit
DEL proga ; Delete program called proga
DEF proga ; Begin definition of program called proga
MA0 ; Incremental positioning mode
MC0 ; Preset positioning mode
A10 ; Set the acceleration to 10 units/sec/sec
V1 ; Set the velocity to 1 units/sec
D100000 ; Set the distance to 100000 units
END ; End definition of program called proga
[A] Acceleration Assignment
Type Assignment or Comparison Product Rev
Syntax See below GT6K 6.0
Units units/sec/sec
GV6K 6.0
Range 0.0001 – 9999.9999
Default n/a
Response n/a
See Also A, AA, AD, ADA, DRES, ERES, GO, SCALE, SCLA
The acceleration assignment command is used to compare the programmed acceleration value to another
value or variable, or to assign the current programmed acceleration to a variable.
Syntax: VARn=A, where n is the variable number, or A can be used in an expression such as
IF(A<25000). The (A) value used in any comparison, or in any assignment statement is the
programmed (A) value.
Example:
IF(A<25000) ; If the acceleration is less than 25000 units/sec/sec,
; then do the statements between the IF and NIF
VAR1=A*2 ; Variable 1 = acceleration times 2
A(VAR1) ; Set the acceleration to the value of variable 1
NIF ; End the IF statement
AA Average Acceleration
Type Motion (S-Curve) Product Rev
Syntax <a_><!>AA<r> GT6K 6.0
GV6K 6.0
Range 0, or 0.0001 – 9999.9999
Default 10.00 (Default is a constant accel ramp, where AA tracks A.
S-curve accel is achieved when AA is changed independent of A.
To restore a constant accel ramp and tracking, set AA = 0.)
Response AA: *AA10.0000
See Also A, AD, ADA, SCALE, SCLA, DMEPIT
The AA command allows you to specify the average acceleration for an S-curve motion profile. S-curve
profiling provides smoother motion control by reducing the rate of change in acceleration and deceleration;
this accel/decel rate of change is known as jerk. Refer to page 15 for details on S-curve profiling.
Scaling affects the average acceleration (AA) the same as it does for the maximum acceleration (A). Refer to
page 16 for details on scaling.
ON-THE-FLY CHANGES: You can change acceleration on the fly (while motion is in progress) in two
ways. One way is to send an immediate acceleration command (!AA) followed by an immediate go
execute a buffered acceleration command (AA) followed by a buffered go command (GO).
Example:
; In this example, prog1 executes a pure S-curve and takes 1 second
; to reach a velocity of 5 rps; prog2 executes a trapezoidal profile
; and takes 0.5 seconds to reach a velocity of 5 rps.
SCALE0 ; Disable scaling
D40000 ; Set distance to 40,000 positive-direction counts

ADA5 ; Set avg. decel to 5 revs/sec/sec
END ; End definition of prog1

D40000 ; Set distance to 40,000 positive-direction counts
ADA10 ; Set avg. decel to 10 rev/sec/sec
END ; End definition of program #2
AD Deceleration
Syntax <a_><!>AD<r> GT6K 6.0
GV6K 6.0
Range 0, or 0.0001 – 9999.9999
Default 10.0000 (by default, AD tracks A until AD is changed
independent of A; to restore tracking, set AD = 0)
Response AD: *AD10.0000
See Also [ A ], A, AA, ADA, DMEPIT, DRES, ERES, GO, IF, LHAD, LSAD, MC,
VARI, SCALE, SCLA, TSTAT, WAIT
The AD command specifies the deceleration rate to be used upon executing the next go (GO) command.
The deceleration remains set until you change it with a subsequent deceleration command. Decelerations
field number. When an invalid deceleration is entered the previous deceleration value is retained.
If the deceleration (AD) command has not been entered, the acceleration (A) command will set the
deceleration rate. Once the deceleration (AD) command has been entered, the acceleration (A) command no
longer affects deceleration. If the AD command is set to zero (ADØ), then the deceleration will once again
track whatever the A command is set to.
ON-THE-FLY CHANGES: You can change deceleration on the fly (while motion is in progress) in two
ways. One way is to send an immediate deceleration command (!AD) followed by an immediate go
execute a buffered deceleration command (AD) followed by a buffered go command (GO).
Example:
SCLA25000 ; Set the acceleration scaling factor to 25000 counts/unit
SCLD1 ; Set the distance scaling factor to 1 count/unit
AD1 ; Set the deceleration to 1 units/sec/sec
[ AD ] Deceleration Assignment
Units units/sec/sec
GV6K 6.0
Range 0, or 0.0001 – 9999.9999
Default n/a
Response n/a
See Also [A], A, AA, AD, ADA, DRES, ERES, GO, SCALE, SCLA
The deceleration assignment command is used to compare the programmed deceleration value to another
value or variable, or to assign the current programmed deceleration to a variable.
Syntax: VARn=AD where n is the variable number, or [AD] can be used in an expression such as
IF(AD<25ØØØ). The (AD) value used in any comparison, or in any assignment statement is the
programmed (AD) value.
Example:
IF(AD<25000) ; If the deceleration is less than 25000 units/sec/sec,
VAR1=AD*2 ; Variable 1 = deceleration times 2
AD(VAR1) ; Set the deceleration to the value of variable 1
ADA Average Deceleration

Syntax <a_><!>ADA<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 10.00 (By default, ADA tracks AA until ADA is changed
independent of AA. To restore tracking, set AD = 0.)
Response ADA: *ADA10.0000
See Also A, AA, AD, DMEPIT, LHADA, LSADA, SCALE, SCLA
The ADA command allows you to specify the average deceleration for an S-curve motion profile. S-curve
Scaling affects the average deceleration (ADA) the same as it does for the maximum deceleration (AD). Refer
to page 16 for details on scaling.
ON-THE-FLY CHANGES: You can change deceleration on the fly (while motion is in progress) in two
ways. One way is to send an immediate deceleration command (!ADA) followed by an immediate go
execute a buffered deceleration command (ADA) followed by a buffered go command (GO).
Example: (refer to the AA command description)

ADDR Multiple Unit Auto-Address
Type Drive Configuration Product Rev
Syntax <a_><!>ADDR GT6K 6.0
Units i = unit number
GV6K 6.0
Range 0 to 99
Default 0
Response ADDR: *ADDR0
See Also BAUD, E, PORT
The ADDR command automatically configures unit addresses for a daisy-chain or multi-drop. The factory
default address for a Gem6K drive is address zero (0). The ADDR command allows up to 99 units on a chain
to be uniquely addressed. After unique addresses are established, you can address commands to specific
units by prefixing the commands with the unit’s address followed by an underscore (e.g., 2_TAS checks the
status on unit #2).
The ADDR value is stored in non-volatile memory.

RS-232C Daisy Chain:
Sending ADDRi to the first unit in the chain sets its address to be (i). The first unit in turn transmits
ADDR(i + 1) to the next unit to set its address to (i + 1). This continues down the daisy chain until
the last unit of (n) daisy-chained units has its address set to (i + n - 1).
NOTE: ADDR configures only the first unit in the chain.

RS-485 Multi-Drop:
To use the ADDR command, you must address each unit individually before it is connected on the
multi drop. For example, given that each product is shipped configured with address zero, you could
set up a 4-unit multi-drop with the commands below, and then connect them in a multi drop:
1. Connect the unit that is to be unit #1 and transmit the Ø_ADDR1 command to it.
If you need to replace a unit in the multi drop, send the Ø_ADDRi command to it, where "i" is the
address you wish the new unit to have.
To send a Gem6K command from the master unit to a specific unit in the multi-drop, prefix the
command with the unit address and an underscore (e.g., 3_OUTØ turns off output #1 on unit #3). The
master unit (if it is not a Gem6K product) may receive data from a multi-drop unit.
For more information on controlling multiple Gem6K Series controller/drives in an RS-232 daisy-chain or
RS-485 multi-drop, refer to the Programmer's Guide.
Example:
ADDR1 ; Set the address of the first unit in the daisy-chain to 1.
; Subsequent units in the chain are automatically numbered
; 2, 3, 4, 5, and so on, in their order in the chain.
[ AND ] And
Type Operator (logical) Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also IF, [ NOT ], [ OR ], REPEAT, UNTIL, WAIT, WHILE
The AND command is used in conjunction with the program flow control commands (IF, REPEAT, UNTIL,
WHILE, WAIT). The AND command logically links two events. If each of the two events are true, and are
linked with an AND command, then the whole statement is true. This fact is best illustrated by example.
Example 1: IF(VAR1>Ø AND VAR2<3) : TPME : NIF
If variable 1 = 1 and variable 2 = 1, then the expression within the IF statement is true, and
the commands between the IF and the NIF will be executed.
Example 2: WHILE(VAR1=1 AND VAR2=2) : TPME : NWHILE
If variable 1 = 1 and variable 2 = 1, then the expression within the WHILE statement is false,
and the commands between the WHILE and the NWHILE will not be executed.
To evaluate an expression (Expression 1 AND Expression 2 = Result) to determine if the whole expression
is true, use the following rules:
TRUE AND TRUE = TRUE
TRUE AND FALSE = FALSE
FALSE AND TRUE = FALSE
FALSE AND FALSE = FALSE
[ ANI ] Analog Input Value

Type Assignment or comparison Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ANIRNG, TANI
Use the ANI operator to assign the voltage level present at an analog input (ANI) to a variable, or to make a
comparison against another value. The ANI value is measured in volts.
The ANI value is derived from the voltage applied to the corresponding analog input and ground. The analog
value is determined from a 12-bit analog-to-digital converter. Under the default ANI voltage range, set with
ANIRNG, the range of the ANI operator is -10.000VDC to +10.000VDC (see ANIRNG command for optional
voltage ranges).
Syntax: VARn=ANI.i where “n” is the variable number, “” is the number of the I/O brick, and
“i” is the I/O brick address where the analog input resides; or ANI can be used in an expression
such as IF(1ANI.2=2.3). If no brick identifier () is provided, it defaults to brick “0”, the
onboard analog input. To understand the I/O brick addressing convention, refer to page 8.
Example:
VAR1=ANI.1 ; Voltage value at onboard analog input is assigned
; to variable 1
VAR2=3ANI.2 ; Voltage value at analog input 2 on I/O brick 3 is assigned
; to variable 2
IF(1ANI.1<8.2) ; If voltage value at analog input 1 on brick 1 < 8.2V, do the
; commands between the IF statement and the NIF statement.
TREV ; Transfer revision level
NIF ; End if statement

ANIEN Analog Input Enable
Type Inputs Product Rev
Syntax To enable only: <a_><!><@>ANIEN<.i>=<E> GT6K 6.0
To override only: <a_><!><@>ANIEN<.i>=<r>
GV6K 6.0
Units B = I/O brick number
i = input location on I/O brick “B”
E = Enable
r = volts
Range B = 0-8
i = 1-32 (dependent on I/O brick configuration)
r = -10.000 to +10.000 (voltage override value)
Default E (enabled)
Response 2ANIEN: *2ANIENx,x,x,x,x,x,x,x (SIM slot 1)
x,x,x,x,x,x,x,x (SIM slot 2)
E,E,E,E,E,E,E,E (SIM slot 3)
x,x,x,x,x,x,x,x (SIM slot 4)
See Also [ ANI ], ANIMAS, ANIRNG, FOLMAS, TANI, TIO
The ANIEN command enables or disables specific analog inputs on expansion I/O bricks. The default state
for each input is the enabled condition. ANIEN can also be used to set analog inputs to specific override
voltage levels. To disable an analog input, set an override voltage of 0.
NOTE: The onboard analog input (ANI.1) is always enabled, and is not affected by the ANIEN command.
Performance: The rate at which the drive samples each analog input depends on how many are enabled on
the SIM; each enabled analog input adds 2 ms to the sample rate for all analog inputs on the SIM. For
example, if 4 of the 8 analog inputs on a SIM are enabled, the sample rate for any specific input on the
same SIM is 8 ms (4 inputs x 2 ms). Disabling input channels increases the performance of the remaining
channels; this is important if an input channel is to be used as a Following source (ANIMAS and FOLMAS
selection).
Example:
1ANIEN.9=E,E ; Enable the 1st & 2nd analog input in SIM slot 2
; (I/O locations 9 & 10) on I/O brick 1.
1ANIEN.11=2.4 ; Override the 3rd analog input in SIM slot 2 (I/O location 11)
; on I/O brick 1 with a voltage of 2.4 volts.
2ANIEN ; Check status of analog inputs on I/O brick 2. As an example,
; a response of *2ANIENx,x,x,x,x,x,x,x
x,x,x,x,x,x,x,x
E,E,E,E,E,E,E,E
x,x,x,x,x,x,x,x
; indicates that an analog input SIM is installed in slot 3 of
; I/O brick 2 and all eight channels are enabled ("E").
ANIMAS Assign Analog Inputs as Following Master

Type Following Product Rev
Syntax <a_><!>ANIMAS<B-i> GT6K 6.0
GV6K 6.0
i = input location on I/O brick “B”
Range B = 0-8
i = 1-32 (dependent on I/O brick configuration)
Default 0-0 (No assignment)
Response ANIMAS: *ANIMAS1-1
See Also ANIEN, FOLMAS
The ANIMAS command assigns an analog input channel to a specific Following master for use when an ANI
master is selected with the FOLMAS command. The ANIMAS command only has an effect if an analog input
Following master is selected with a subsequent FOLMAS command (ANIMAS command must be issued
before the FOLMAS command).
Example:
ANIMAS4-17 ; Select the first analog input channel in SIM slot 3
; (I/O location 17) of I/O brick 4 to be used for master
FOLMAS12 ; Define axis 1 to be follower of the analog input
; selected for master
ANIRNG Analog Input Voltage Range
Syntax <a_><!><@>ANIRNG<.i><=i> GT6K 6.0
GV6K 6.0
1st i = input location on I/O brick “B”
2nd i = voltage range selector number
Range B = 0-8
1st i = 1-32 (dependent on I/O brick configuration)
2nd i = 1 (0 to +5VDC),
2 (-5 to +5VDC),
3 (0 to +10VDC), or
4 (-10 to +10VDC)
Default 4 (range is set to -10 to +10VDC)
Response 2ANIRNG: *2ANIRNGx,x,x,x,x,x,x,x
4,4,4,4,4,4,4,4
x,x,x,x,x,x,x,x
x,x,x,x,x,x,x,x
2ANIRNG.9: *4
See Also [ ANI ], ANIEN, JOYCDB, JOYCTR, JOYEDB, SCLA, SCLV, TANI,
TIO,
Use the ANIRNG command to select voltage ranges for specific analog inputs on the expansion I/O bricks
connected to your Gem6K. The default range for all analog inputs is –10VDC to +10VDC.
NOTE: The onboard analog input (ANI.1) is fixed at –10VDC to +10VDC, and is not affected by the
ANIRNG command.
Be aware that changing the analog input voltage range affects these settings:
ANIRNG Setting Voltage Range Counts/volt resolution
1 0 to +5VDC 819
2 -5 to +5VDC 410
3 0 to +10VDC 410
4 -10 to +10VDC 205
Example
2ANIRNG.9=3 ; For the 1st analog input on SIM2 of I/O brick 2, select a voltage
; range of 0 to +10VDC
ANO Set Analog Output Voltage

Type Output Product Rev
Syntax <a_><!>ANO<.i>=<r> GT6K 6.0
GV6K 6.0
i = input/output location on brick “B”
r = volts
Range B = 1-8 (depending on I/O brick configuration)
i = 1-32 (depending on I/O brick configuration)
r = -10.00 to +10.00 (or 0 to 4095 in PLC mode)
Default 0.0
Response n/a
See Also [ ANO ], DMONAS, DMONAV, DMONBS, DMONBV, TANO, TIO
Use the ANO command to assign a voltage of an analog output associated with an analog output SIM.
NOTE: See the DMONxx commands for information on controlling the onboard analog monitors.

Performance: Each analog output channel is updated once every 16ms (2ms per analog output channel).
Each DAC has 10-bit granularity, giving approximately 20 mV/bit over the 20 volt range.
PLC Mode: When commanding an analog output ANO Value = (Vout + 10) x 4095 / 20
using PLC mode, the raw DAC value must be used. Vout DAC Value
To calculate what value to program, use the -10V 0
following formula or table: -5V 1024
0V 2048
+5V 3071
+10V 4095
Example
1ANO.9=8.5 ; Command 8.5 volts on analog output 9, I/O brick 1
; (analog output SIM must be present in slot 2 of I/O brick 1)
[ ANO ] Analog Output Voltage Assignment

Type Outputs; Assignment or Comparison Product Rev
Units Voltage
GV6K 6.0
Range -10.00VDC to +10.00VDC
Default n/a
Response n/a
See Also ANO, TANO, TIO
Use the ANO operand to assign the voltage level present at one of the analog outputs to a variable, or to
make a comparison against another value.
The ANO value is derived from the voltage applied to the corresponding analog output and ground. The
analog value is determined from a 10-bit digital-to-analog converter and the value set with the ANO
command. The range of the ANO operand is -10.00VDC to +10.00VDC.
Syntax: VARn=ANO.i where “n” is the variable number, “” is the number of the I/O brick, and “i”
is I/O brick address where the analog output resides; or ANO can be used in an expression such as
IF(1ANO.2=2.3). If no brick identifier () is provided, it defaults to 1. To understand the I/O
brick addressing convention, refer to page 8.
PLC Mode: When assigning or comparing an ANO Value = (Vout + 10) x 4095 / 20
analog output value in PLC mode, the raw DAC Vout DAC Value
value must be used. To calculate what this value -10V 0
will be, use the following formula or table: -5V 1024
0V 2048
+5V 3071
+10V 4095
Example:
IF(1ANO.9>8.5) ; If the commanded analog output is greater than 8.5
WRITE"HIGH" ; write warning to screen
NIF
IF(1ANO.9<-8.5) ; If the commanded analog output is less than -8.5
WRITE"LOW" ; write warning to screen
NIF
[ AS ] Axis Status
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ ASX ], ESTALL, GOBUF, GOWHEN, INDUST, SMPER, TAS, TASF,
TRGFN, TSTAT, VARB
Use the AS operator to assign the axis status bits to a binary variable, or to make a comparison against a
binary or hexadecimal value.
To make a comparison against a binary value, the letter b (b or B) must be placed in front of the value that
the axis status is being compared against. The binary value itself must only contain ones, zeros, or Xs (1, Ø,
X, x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value that the axis status is being compared against. The hexadecimal value itself must only contain the
letters A through F, and the numbers Ø through 9. The function of each axis status bit is shown below.
Bit #
(left to right) Function (1 = Yes; Ø = No) GT6K GV6K To Clear This Bit:
1 Motion is commanded. (CAUTION: This bit could be cleared X X ----------

even while the motor is still “moving” – e.g., due to end-of-
move settling.)
2 Negative/positive-direction (1 = negative, Ø = positive). X X ----------
3 Accelerating (commanded acceleration only – TACC). This bit X X ----------
does not indicate commanded deceleration (bit is set to 0
during decel); to check if the axis is decelerating, the state of
TAS bits 1, 3 and 4 should be: TAS1x00.
4 At commanded velocity (TVEL). X X ----------
5 Home Successful (HOM) (YES/NO) X X ----------

6 Absolute/Incremental (MA) position mode selected. X X ----------
(1 = MA1, Ø = MA0)
7 Continuous/Preset (MC) position mode selected. X X ----------
(1 = MC1, Ø = MC0)
8 Jog Mode selected (JOG) -- -- ----------
(1 = JOG1, Ø = JOG0)
9 Joystick Mode selected (JOY) -- -- ----------

(1 = JOY1, Ø = JOY0)
10 RESERVED -- -- ----------
11 Position Maintenance Mode X -- ----------
12 Stall detected (ESTALL) X -- ----------
13 Drive shut down. NOTE: If operating in the FLTDSB1 mode, X X DRIVE1

a shutdown (DRIVE0 or open the Enable input interlock) will
cause a “fault condition” – see note * below.
14 * Drive Faults occurred. X X DRIVE1
Check the TASX response to identify which fault(s) occurred.
15 Positive-direction hardware limit hit. This is not a “fault X X LHØ or GO in opposite
condition”. direction.
16 Negative-direction hardware limit hit. This is not a “fault X X LHØ or GO in opposite
17 Positive-direction Software Limit (LSPOS) Hit. X X LSØ or GO in opposite

direction.
18 Negative-direction Software Limit (LSNEG) Hit. X X LSØ or GO in opposite
direction.
19 Position Error X -- ---------

20 RESERVED -- -- ---------
21 RESERVED -- -- ---------
22 RESERVED -- -- ---------
23 * Position error exceeded (SMPER). -- X DRIVE1
24 In Target Zone (defined with STRGTD & STRGTV). This bit is set -- X GO1
only after the successful completion of a move (if STRGTD and
STRGTV criteria have been satisfied). This bit is usable even if
the Target Zone mode is not enabled (STRGTE0).
25 Target Zone Timeout occurred (STRGTT). -- X GV6K: GO1

26 Change in motion is suspended pending GOWHEN (YES/NO). X X (see description)
This bit is cleared if the GOWHEN condition is true, or if STOP
(!S) or KILL (!K or ^K) is executed
27 RESERVED -- -- ---------
28 Registration move initiated by trigger since last GO command. X X GO1
This bit is cleared with the next GO command.
29 GOWHEN error occurred. The input state or the position X X ---------

relationship specified in a GOWHEN command was already true
when the subsequent GO, FGADV, FSHFC or FSHFD command
was executed.
30 Pre-emptive (OTF) GO or Registration profile not possible X X GO1
31 Compiled GOBUF profile is executing. X X ---------
32 RESERVED -- -- ---------
* FAULT CONDITIONS: If one or more of these conditions exist, the drive automatically disables (DRIVE0), it activates any
output configured as a fault output, and it opens the dry contact relay (labeled “RELAY COM” and “RELAY N.O.”) on the 4
pin removable connector.
Syntax: VARBn=AS where n is the binary variable number, or AS can be used in an expression such as
IF(AS=b11Ø1), or IF(AS=h7F). If it is desired to assign only one bit of the axis status value to a
binary variable, instead of all 32, the bit select (.) operator can be used. The bit select operator, in
conjunction with the bit number, is used to specify a specific axis status bit (e.g., VARB1=AS.12
assigns status bit 12 to binary variable 1).
Example:
VARB1=AS ; Axis status assigned to binary variable 1
VARB2=AS.12 ; Status bit 12 assigned to binary variable 2
VARB2 ; Response, if bit 12 is set to 1, is
; "*VARB2=XXXX_XXXX_XXX1_XXXX_XXXX_XXXX_XXXX_XXXX"
IF(AS=b111011X11) ; If the axis status contains 1's for
; bits 1,2,3,5,6,8,and 9, and a 0 for bit location 4,
; do the IF statement
IF(AS=h7F00) ; If the axis status contains 1's for
; bits 1,2,3,5,6,7,and 8, and 0's for every other bit
; location, do the IF statement
[ ASX ] Extended Axis Status

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [AS], DSTALL, ESTALL, TASX, TASXF, TAS, TASF, VARB
The ASX command is used to assign the axis status bits to a binary variable, or to make a comparison
against a binary or hexadecimal value.
To make a comparison against a binary value, the letter b (b or B) must be placed in front of the value that
the axis status is being compared against. The binary value itself must only contain ones, zeros, or Xs (1, Ø,
X, x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value that the axis status is being compared against. The hexadecimal value itself must only contain the
letters A through F, and the numbers Ø through 9.
Bit # Function (1 = Yes; Ø = No) GT6K GV6K To Clear This Status Bit:
1 * Motor temperature fault (hardware switch in the motor). -- X DRIVE1

2 * Low voltage fault X X DRIVE1
3 * Drive over-temperature fault (hardware thermal sensor in X X DRIVE1
drive).
4 RESERVED -- -- ----------
5 * Resolver failed. -- X RESET or cycle power
6 RESERVED -- -- ----------
7 * Motor configuration error occurred (checked on power up). X X Resolve error condition (see
Use TCS to ascertain the cause of the error. This is a fault TCS) and issue RESET or
condition which causes a drive shutdown (DRIVE0). DRESET or cycle power
8 RESERVED -- -- ----------
9 * Velocity error limit (SMVER value) has been exceeded. -- X DRIVE1
10 * Bridge fault (hardware signal from the bridge) X X RESET or DRESET or cycle power
11 * Bridge temperature fault (this is a software control). -- X DRIVE1
12 * Over-voltage. -- X RESET or DRESET or cycle power
13-16 RESERVED -- -- ----------
17 Stall detected (DSTALL or ESTALL) X -- DRIVE1
18 Override mode was invoked. (See DMVLIM command.) X X DCLRLR or RESET or DRESET or
cycle power
19 Bridge is in foldback mode. -- X DCLRLR or RESET or DRESET or
cycle power
20 Power Dissipation Circuit has been active – X X DCLRLR or RESET or cycle power
not applicable to GV6K-U3, GV6K-U6, and GV6K-U12 drives
21 * Bad Hall state detected. (Use THALL for diagnostics.) -- X RESET or cycle power
22 * Unrecognized hardware — consult factory X X RESET or cycle power
23 * User Fault input activated (INFNCi-F) X X Deactivate the input
24 Keep Alive active (User supplied +24VDC) X X ----------
25 Power dissipation circuit fault (excessive power dissipation) X X DRIVE1
26 RESERVED -- -- ----------
27 RESERVED -- -- ----------
28 Motor configuration warning resulting from trying to run the X X Resolve error condition (see
motor beyond acceptable limits. Use TCS to ascertain the TCS) and issue RESET or
cause of the warning. DRESET or cycle power
29 * ORES failure (encoder output or step & direction output X X DRIVE1
exceeds the maximum output frequency).
30 * Motor Thermal model fault. -- X Let the motor cool, then issue
DRIVE1.
31 Commanded torque/force is at limit (TTRQ = DMTLIM). -- X DCLRLR or RESET or DRESET or
cycle power
32 RESERVED -- -- ---------
* FAULT CONDITIONS: If one or more of these conditions exist, the drive automatically disables (DRIVE0), it
activates any output configured as a fault output, and it opens the dry contact relay (labeled “RELAY COM” and “RELAY
N.O.”) on the 4 pin removable connector.
Syntax: VARBn=ASX where n is the binary variable number, or ASX can be used in an expression such as
IF(ASX=b11ØØ), or IF(ASX=h7Ø). If it is desired to assign only one bit of the axis status value to
a binary variable, instead of all 32, the bit select (.) operator can be used. The bit select, in
conjunction with the bit number, is used to specify a specific axis status bit (e.g., VARB1=ASX.3
assigns status bit 3 to binary variable 1).

Example:
VARB1=ASX ; Extended Axis status assigned to binary variable 1
VARB2=ASX.3 ; Extended Axis status bit 3 assigned to binary variable 2
VARB2 ; Response if bit 3 is set to 1:
; "*VARB2=XX1X_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX"
IF(ASX=b101XXXXX) ; If the extended axis status contains 1's
; for bits 1 and 3, and a 0 for bit location 2, do the
; IF statement
[ ATAN() ] Arc Tangent

Type Operator (Trigonometric) Product Rev
Syntax VARi=ATAN(r) GT6K 6.0
Units r = real number
GV6K 6.0
Range 0.00000 to ±999,999,999
Default none
Response n/a
See Also [=], [COS], [PI], RADIAN, [SIN], [TAN], VAR
The ATAN operator is used to calculate the inverse y

tangent of a real number. If “a” and “b” are coordinates
of a point on a circle of radius “r”, then the angle of
measure “θ” can be defined by the equation: sin θ = a
a r
θ = arctan . r
b θ a cos θ = b
r
x
The result of the ATAN command will either be in b
degrees or radians, depending on the RADIAN tan θ = a
b
command.
To convert radians to degrees, use the formula:
360° = 2π radians.
Syntax: VARi=ATAN(r) where i is the variable number and r is a real number value. Parentheses ( () ) must be
used with the ATAN command. The result will be specified to 2 decimal places in either radians or
degrees.
Example:
RADIAN1 ; Enable radian mode
VAR1=ATAN(0.75) ; Set variable 1 equal to the inverse tangent of 0.75 radians
BAUD Baud Rate

Syntax BAUD GT6K 6.0
Units i = Baud rate
GV6K 6.0
Range i = 1200, 2400, 4800, 9600, 19200, 38400, or 115200 (COM2
only)
Default 9600
Response BAUD *BAUD9600
See Also ADDR, E, PORT
NOTE: The baud rate for the “RS-232/485” (COM1) serial port is fixed at 9600 baud, and is not adjustable by the
BAUD command.
BAUD establishes the baud rate for the “RS-232” (COM2) serial port, as selected by the last PORT command. The
default is 9600 baud (BAUD9600). The BAUD setting is automatically saved in battery backed RAM. NOTE:
Changing the baud rate for the “RS-232” port will result in a loss of communication until the baud rate of the terminal
is changed accordingly.
Example:
PORT2 ; Select COM2 ("RS-232") port
BAUD38400 ; Set the baud rate for COM2 to 38400 baud
BOT Beginning of Transmission Characters

Syntax <!>BOT,, GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 – 256
Default 0,0,0
Response BOT: *BOT0,0,0
See Also EOT, ERROK, ERRBAD, PORT, DRPCHK, EOL, ], [
The BOT command designates the characters to be placed at the beginning of every response. Up to 3
characters can be placed before the first line of a multi-line response, or before all single-line responses.
The characters are designated with their ASCII equivalent. For example, a carriage return is ASCII 13, a
line feed is ASCII 10, a Ctrl-Z is ASCII 26, and no terminating character is designated with a zero.
NOTE: ASCII 256 transmits nothing. ASCII 256 transmits a null ASCII zero character, which is typically
used to create a null terminated string in a C language.
For a more complete list of ASCII Equivalents, refer to the ASCII Table in Appendix B.
Example:
BOT13,10,26 ; Place a carriage return, line feed, and Ctrl-Z before
; the first line of a multi-line response, and before
; all single line responses
BP Set a Program Break Point

Type Program Flow Control or Program Debug Tool Product Rev
Syntax <a_><!>BP GT6K 6.0
Units i = break point number
GV6K 6.0
Range 1 – 32
Default n/a
Response n/a
See Also BREAK, C, HALT, K, S, [ SS ], TSS
The BP command allows the programmer to set a place in the program where command processing will halt
and a message will be transmitted to the PC. There are 32 break points available, BP1 to BP32, all
transmitting the message *BREAKPOINT NUMBER x<cr> where x is the break point number.
After halting at a break point, command processing can be resumed by issuing a continue (!C) command.
The break point command is useful for stopping a program at specific locations in order to test status for
debugging or other purposes.
Example:
DEF prog1 ; Begin definition of program named prog1
D50000 ; Set distance to 50000 units
MA1 ; Absolute mode
IF(PC>40000) ; Compare commanded position to 40000
BP1 ; If the motor position is > 40000 units, set break point #1
BP2 ; Set break point #2
RUN prog1 ; Execute program prog1
If the IF statement evaluates true, the message *BREAKPOINT NUMBER 1 will be transferred out. A !C
command must be issued before processing will continue. Once processing has continued, the second break

point command will be encountered, again the message *BREAKPOINT NUMBER 2 will be transferred out,
and processing of commands will pause until a second !C command is received.
BREAK Terminate Program Execution

Type Program Flow Control Product Rev
Syntax <a_><!>BREAK GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also BP, C, GOSUB, HALT, K, S
The BREAK command terminates program execution when processed. This command allows the user to
terminate a program based upon a condition, or at any other particular point in the program where it is
necessary to end the program. If the program terminated was called from another program, control will be
passed to the calling program. This command is useful when debugging a program.
To terminate all program processing, use the HALT command.
Example:
DEF prog1 ; Define a program called prog1
GOSUB prog2 ; Gosub to subroutine named prog2
D5 ; Change distance
IF(IN=b1X0) ; IF condition is: status of input 1 is active (1)
; and input 3 is inactive (0)
BREAK ; If condition is true break out of program
ELSE ; Else part of if condition
TPE ; If condition does not come true, transfer position of encoder
NIF ; End If statement
;
; Upon completion of motion, subroutine prog2 is called. If inputs 1 and 3
; are in the correct state when the subroutine is entered, the subroutine
; will be terminated and returned to prog1, where motion will be initiated.
C Continue Command Execution

Syntax <a_>!C GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also BP, COMEXR, COMEXS, INFNC, PS, S
The Continue (!C) command ends a pause state (PS), a break point (BP) condition, or a stopped (S)
condition. When the Gem6K is in a paused state or at a break point, no commands from the command
buffer are executed. All immediate commands, however, are still processed. By sending a !C command,
command processing will resume, starting with the first command after the PS command or the BP
command. If a stop (S) command has been issued, motion and command processing can be resumed by
issuing a !C command, only if COMEXS has been enabled.
Example:
PS ; Stop execution of command buffer until !C command
D10000 ; Set distance to 10000 counts
No buffered commands after the PS command will be executed until a !C command is received.
!C ; Restart execution of command buffer
IF(VAR1>6) ; Compare VAR1>6
BP1 ; If the motor position is > 50000 units, set break point #1
BP2 ; Set break point #2
If the IF statement evaluates true, the message BREAKPOINT NUMBER 1 will be transferred out. A !C
command must be issued before processing will continue. Once processing has continued, the second break
point command will be encountered, the message BREAKPOINT NUMBER 2 will be transferred out, and
processing of commands will pause until a second !C command is received.
COMEXS1 ; Enable command processing on stop
!S ; Stop motion
When the Gem6K drive processes the !S command, motion will be stopped. If the desired distance has not
been reached, motion can be resumed by issuing the !C command. If motion and command processing are
to stop, a Kill (!K) command can be issued.
CERRLG Clear the Error Log

Type Error Handling Product Rev
Syntax <a_><!>CERRLG GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also TAS, TASX, TDHRS, TDTEMP, TERRLG, TMTEMP
The CERRLG command erases the stored contents of the error log. Clearing the error log is a helpful
diagnostic tool; it allows you to start the diagnostic process when the error log is in a known state so that
you can check the error log in response to subsequent events.
The error log is updated every time an event occurs, as selected by the ERRORL command. The TERRLG
command displays the last ten error conditions that the drive has experienced, as recorded in these status
registers:
• TAS (axis status binary report)
• TASX (extended axis status binary report)
• TDHRS (number of hours since the drive was powered up or RESET)
• TDTEMP (measured temperature of the drive in centigrade)
• TMTEMP (estimated temperature of the motor in centigrade for GV6K only; GT6K always reports
zero)

COMEXC Continuous Command Processing Mode
Type Command Buffer Control Product Rev
Syntax <a_><!>COMEXC GT6K 6.0
Units b = 0 or 1
GV6K 6.0
Range 0 = Disable, 1 = Enable
Default 0
Response COMEXC: *COMEXC0
See Also [ ! ], A, AA, AD, ADA, COMEXL, COMEXS, D, ERRORP, FOLRD,
FOLRN, GO, GOWHEN, MA, MC, V
Use COMEXC to enable or disable Continuous Command Execution Mode. Under default operation
(COMEXC0), when a motion command is received, command processing is temporarily paused until the
motion is complete. In continuous command execution mode (COMEXC1), however, command processing
continues while motion is taking place. NOTE: Command processing will be slower and some motion
parameters cannot be changed while motion is in progress; for a complete list of motion parameters that
cannot be changed while motion is in progress, refer to the Restricted Commands During Motion section in
Chapter 1 of the Programmer's Guide.
The Continuous Command Processing Mode is useful in the following situations:
• When trying to check the status of inputs while the Gem6K is commanding motion.
• Performing calculations ahead of time, possibly decreasing cycle time.
• Executing buffered on-the-fly acceleration (A, AA), and deceleration (AD, ADA), distance (D), positioning
mode (MA & MC), Following ratio (FOLRD & FOLRN), and velocity (V) changes. (The buffered A, AA, AD,
ADA, D, FOLRD, FOLRN, MA, MC, or V change can be executed only with a buffered Go (GO) command.)
For more information about on-the-fly motion changes, refer to the Programmer's Guide.
• Pre-processing the next move while the current move is in progress (see CAUTION note below). This
reduces the processing time for the subsequent move to only a few microseconds.
CAUTION: Avoid Executing Moves Prematurely

With continuous command execution enabled (COMEXC1), if you wish motion to stop
before executing the subsequent move, place a WAIT(AS.1=bØ) statement before
the subsequent GO command. If you wish to ensure the load settles adequately
before the next move, use the WAIT(AS.24=b1) command instead (this requires
you to define end-of-move settling criteria — see STRGTE command or the Target
Zone section in the Programmer's Guide for details).
Example:
DEL Prog1 ; Delete program called Prog1
DEF Prog1 ; Begin definition of program called Prog1
COMEXC1 ; Enable continuous command execution mode
L50 ; Loop 50 times
; Normally at this point, the Gem6K drive would wait for the motion to complete
; before processing the next command. However, with continuous command execution
; enabled (COMEXC1), processing will continue with the statements that follow.
IF(IN.1=b1) ; Check for input #1 becoming active
OUT.3-1 ; If it does, turn on output #3
ELSE ;
OUT.1-1 ; If input #1 is not on, turn on output #1
NIF
WAIT(AS.1=b0) ; Wait for no commanded motion
LN ; End loop
COMEXC0 ; Disable continuous command mode
END ; End definition of program
On-the-fly Velocity, Acceleration and Deceleration Change Example:
DEF vsteps ; Begin definition of program vsteps
MC1 ; Set mode to continuous
A10 ; Set acceleration to 10 rev/sec/sec
V1 ; Set velocity to 1 rps
GO1 ; Initiate move
WAIT(VEL=1) ; Wait for motor to reach continuous velocity
T3 ; Time delay of 3 seconds
A50 ; Set acceleration to 50 rev/sec/sec
V10 ; Set velocity to 10 rps
GO1 ; Initiate move
T5 ; Time delay of 5 seconds
S1 ; Initiate stop of move
WAIT(MOV=b0) ; Wait for motion to completely stop
COMEXC0 ; Disable continuous command execution mode
END ; End definition of program vsteps
COMEXL Continue Execution on Limit

Syntax <a_><!>COMEXL GT6K 6.0
Units b = 0 or 1
GV6K 6.0
Range 0 = Disable, 1 = Enable
Default 0
Response COMEXL: *COMEXL0
See Also COMEXC, COMEXS, ERROR, LH, LIMLVL, LS
COMEXL determines whether the command buffer will be saved upon hitting a hardware end-of-travel limit
(LH), or a soft limit (LS). If save command buffer on limit is enabled (COMEXL1), then all commands
following the command currently being executed will remain in the command buffer when a limit is hit. If
save command buffer on limit is disabled (COMEXLØ), then every command in the buffer will be discarded,
and program execution will be terminated.
Example:
COMEXL1 ; Save the command buffer if the limit is hit.
COMEXR Continue Motion on Pause/Continue Input

Syntax <a_><!>COMEXR GT6K 6.0
Units b = 0 or 1
GV6K 6.0
Range 0 = disable, 1 = enable
Default 0
Response COMEXR: *COMEXR0
See Also C, COMEXS, INFNC
The COMEXR command determines the functionality of programmable inputs defined as pause/continue inputs
with the INFNCi-E command. When the input is activated, the command being processed will be allowed to
finish executing.
COMEXRØ: Upon receiving a pause input, only program execution is paused; any motion in progress will
continue to its predetermined destination. Releasing the pause input or issuing a !C command
will resume program execution.
COMEXR1: Upon receiving a pause input, both motion and program execution will be paused; the motion
stop function is used to halt motion. After motion stops, you can release the pause input or issue
a !C command to resume motion and program execution.

Example:
COMEXR1 ; Allow both motion and program execution to be paused upon
; receiving a pause input
2INFNC1-E ; Define input 1 on I/O brick 2 as a pause/continue input
COMEXS Continue Execution on Stop

Syntax <a_><!>COMEXS GT6K 6.0
Units i = function identifier
GV6K 6.0
Range 0, 1, or 2
Default 0
Response COMEXS: *COMEXS0
See Also COMEXC, COMEXL, COMEXR, INFNC, S
The COMEXS command determines the impact on motion, program execution, and the command buffer
when the Gem6K receives a Stop command (S, !S, S1, or !S1) or an external Stop input (an input assigned
a stop function with INFNCi-D).
COMEXS0: Under factory default conditions (COMEXS0), when the Gem6K receives a stop command (S, !S,
S1, or !S1) or a stop input (INFNCi-D), the following will happen:
• Motion decelerates to a stop, using the present AD and ADA deceleration values. The
motion profile cannot be resumed.
• All commands in the Gem6K’s command buffer are discarded.
• Program execution is terminated.
COMEXS1: Using the COMEXS1 mode, the Gem6K allows more flexibility in responding to stop conditions,
depending on the stop method (see table below).
Save Command Buffer.
Resume Motion Profile. Resume Program. (Save the commands that
(Allow resume with a !C (Allow resume with a were in the command
What Stops? command or a resume !C command or a buffer when the stop was
Stop Method Motion Program input * ) resume input * ) commanded)
!S or S Yes Yes Yes Yes Yes
!S1 or S1 Yes No No No Yes
Stop input Yes No No No Yes
Pause input * Yes Yes Yes Yes Yes
(if COMEXR1)
Pause input * No Yes No Yes Yes
(if COMEXR0)
* A Pause input is an input configured with the INFNCi-E command command. This is also the Resume input
that can be used to resume motion and program execution after motion is stopped.
COMEXS2: Using the COMEXS2 mode, the Gem6K responds as it does in the COMEXS0 mode, with the
exception that you can still use the program-select inputs to select programs (INSELP value is
retained). The program-select input functions are: BCD select (INFNCi-B), and one-to-one select
(INFNCi-P). For further details on program selection with inputs, refer to INFNC and INSELP.
[ COS() ] Cosine
Syntax COS(r) (see below) GT6K 6.0
Units r = radians or degrees (depending on RADIAN command)
GV6K 6.0
Range r = 0.00000 - ±17500
Default n/a
Response n/a
See Also [ ATAN ], [ PI ], RADIAN, [ SIN ], [ TAN ], VAR
Use this operator to calculate the y

cosine of a number given in radians or
degrees (see RADIAN command). If
“a” and “b” are coordinates of a point
on a circle of radius “r”, then the angle sin θ = a
r
of measure “θ” can be defined by the
equation: r
θ a cos θ = b
b
r
cos θ = (see illustration at right) x
r
b
tan θ = a
If a value is given in radians and a b
conversion is needed to degrees, or
vice-versa, use the formula:
y = Cos x
Amplitud e
(y axis)
The graph to the right 1
shows the amplitude of
y on the unit circle for 0.707
different values of x.
0
π π 3π π 5π 3π 7π 2π
4 2 4 4 2 4 Radians
(x axis)
-0.707
2 π Radi ans = 360 Degr ees

-1
Syntax: VARi=COS(r) where i is the variable number and r is a value in either radians or degrees
depending on the RADIAN command. Parentheses ( () ) must be placed around the COS operand.
The result will be specified to 5 decimal places.
Example:
VAR1=5 * COS(PI/4) ; Set variable 1 equal to 5 times the cosine of
; π divided by 4

D Distance
Syntax <a_><!>D<r> GT6K 6.0
Units r = distance units (scalable by SCLD)
GV6K 6.0
Range ±999,999,999.99999
Default 4000
Response D: *D+4000
See Also [ D ], DMEPIT, DRES, ERES, GO, IF, MA, MC, PSET, SCLD, TSTAT,
VARI, WAIT
The Distance (D) command defines either the number of units the motor will move or the absolute position
it will seek after a GO command. In the incremental mode (MAØ), the distance value represents the total
number of units you wish the motor to move. In the absolute mode (MA1) the distance value represents the
absolute position the motor will end up at; the actual distance traveled will vary depending on the absolute
position of the motor before the move is initiated.
In the incremental mode (MAØ), you can specify a negative distance by placing a dash or hyphen (-) in front
of the distance value (e.g., D-10000). Otherwise, the direction is considered positive. You can change
direction without changing the distance value by using the +, -, or ~ operators (e.g. D+, or D-, or D~); the
tilde (~) is a means of toggling the direction.
The distance remains set until you change it with a subsequent distance command. Distances outside the valid
range are flagged as an error, returning the message *INVALID DATA-FIELD x, where x is the field number.
ON-THE-FLY CHANGES: You can change distance on the fly (while motion is in progress) in two ways.
One way is to send an immediate distance command (!D) followed by an immediate go command (!GO).
The other way is to enable the continuous command execution mode (COMEXC1) and execute a buffered
distance command (D) followed by a buffered go command (GO).
Direction of Motion for Rotary Motors:

Positive distance values (e.g., D20000) represent clockwise motion and
negative values (e.g., D-20000) represent counter-clockwise motion. This
Clockwise Counter-clockwise
assumes you connected the motor (and feedback device for servos) according (positive counts) (negative counts)
to the Hardware Installation Guide instructions.
Example:
SCLA25000 ; Set the acceleration scaling factor for to 25000 steps/unit
SCLV25000 ; Set the velocity scaling factor to 25000 steps/unit
SCLD1 ; Set the distance scaling factor to 1 step/unit
AD1 ; Set the deceleration to 1 units/sec/sec
[D] Distance Assignment
Units distance units (scalable by SCLD)
GV6K 6.0
Range ±999,999,999.99999
Default n/a
Response n/a
See Also D, GO, MA, MC, PSET, SCLD
The distance assignment (D) command is used to compare the programmed distance value to another value
or variable, or to assign the current programmed distance to a variable.
Syntax: VARn=D where n is the variable number, or [D] can be used in an expression such as
IF(D<25ØØØ). The D value used in any comparison, or in any assignment statement is the
programmed D value. If the actual position information is required, refer to the PC command for
steppers, or the PE command for servos.
Example:
IF(D<25000) ; If the programmed distance is less than 25000 units,
VAR1=D*2 ; Variable 1 = programmed distance times 2
D(VAR1) ; Set the distance to the value of variable 1
DABSD Enable ABS Damping

Syntax <a_><!>DABSD GT6K 6.0
Units b = enable bit
GV6K n/a
Range 0 (disable) or 1 (enable)
Default 0 (disabled) (applicable only to
Response DABSD: *DABSD1 stepper axes)
See Also DACTDP, DDAMPA, DELVIS
The DABSD command enables or disables the ABS damping function. ABS is a damping technique
designed for use at very low to zero speed. ABS damping requires no additional user setup or
configuration. When enabled (DABSD1), ABS damping takes precedence over electronic viscosity
(DELVIS) at speeds less than approximately 0.2 revs/sec (motor dependent). ABS damping can be disabled
during acceleration with the DDAMPA0 command (DDAMPA0 is the factory default setting).
GT6K Damping Features: The GT6K drive provides damping features that reduce vibration, increase low-
speed smoothness, and decrease load settling time. (A procedure for configuring damping settings is provided
in the Configuration chapter of the Hardware Installation Guide.)

Command Damping Function Velocity * Default Related Parameters *
DABSD ABS Damping. Load-independent damping 0 to 0.2 revs/sec ** Disabled DMTRES, DMTIND
at extreme low speeds. This feature targets
applications that require minimal zero-speed
settling (e.g., pick-and-place applications).
DELVIS Electronic Viscosity. This feature targets 0 to 3 revs/sec ** Disabled DMTJ, DMTSTT, DPOLE,
applications that require reduced low-speed DMTIC, DMTIND,
velocity ripple and increased smoothness, as LJRAT
well as aggressive low-speed damping.
(NOTE: If ABS Damping is enabled, it
overrides electronic viscosity in the 0-0.2
rev/sec velocity range.) Start with DELVIS
set to zero, and increase until the required
performance is achieved.
DACTDP Active Damping. This feature targets > 3 revs/sec Enabled, DMTJ, DMTIND,
applications that require high accelerations, gain = 4 DMTSTT, LJRAT
fast settling at commanded speed,
mechanical vibration rejection, and highly
stable (non-resonant) motion. Start
configuration with a low DACTDP value, as
highly aggressive damping can lead to
mechanical failure.
DDAMPA Damping During Acceleration. When Affects damping at Disabled n/a
enabled, ABS Damping and Electronic accelerations
Viscosity are allowed to function at accel and > 50 revs/sec/sec
decel rates greater than 50 revs/sec/sec. If
your application requires more responsive
acceleration and deceleration (full motor
torque) above 50 revs/sec/sec, you can
disable this feature; but be aware that doing
so increases jerk in your mechanical system.
* These features are based on motor and load parameters that you set up with the configuration utility in Motion
Planner (see page 6). For optimum damping performance, accurate motor and load parameters are required.
NOTE: If you select a Parker motor with the configuration utility, all of the motor parameters (excluding LJRAT,
which sets the load-to-rotor ratio) are automatically set accordingly.
** Actual transition velocity is based on motor and load parameters, and is therefore application dependent.
DACTDP Active Damping

Syntax <a_><!>DACTDP GT6K 6.0
Units i = gain
GV6K n/a
Range 0-40; 0 disables active damping
Default 4 (applicable only to
Response DACTDP *DACTDP0 stepper axes)
See Also DABSD, DELVIS, DMTR, LJRAT
The DACTDP command controls the gain of the Active Damping function for a specific motor and load.
Active damping works at speeds greater than 3 revolutions per second.
NOTE: To be fully effective, the active damping function requires that you first set the system inertia ratio
(LJRAT) and configure your motor parameters. Motor parameters are automatically configured when you
select a Parker motor with the DMTR command (if you are not using a Parker motor you must individually
configure each command listed in the DMTR command description). With a setting of DACTDP20, the nominal
gains (calculated based on LJRAT and the motor parameters) give the best performance over the entire speed
range, but you may adjust the DACTDP setting further as your application warrants.
An overview of the GT6K’s damping features is provided in the DABSD command description
[ DAT ] Data Assignment
Type Data Storage Product Rev
Syntax DATi GT6K 6.0
Units i = data program #
GV6K 6.0
Range 1-50
Default n/a
Response n/a
See Also DATA, [ DATP ], DATPTR, DATRST, DATTCH
The DAT command recalls data from the data program (DATP). The data is loaded into a command field, or
into a variable (VAR). As the data is loaded, the internal data pointer to the DATP data increments and points
to the next datum for the next DAT command.
Syntax: VARn=DATi where “n” is the variable number, and “i” is the data program number,
or DAT can be used as a command argument such as A(DAT1)
If the data is to be loaded into a command field, the DAT command must be placed within parentheses (e.g.,
AD(DAT2) ). If the data is loaded into a variable, parentheses are not required. (e.g., VAR1=DAT2). Rule of
Thumb for command value substitutions: If the command syntax shows that the command field requires a
real number (denoted by <r>) or an integer value (denoted by ), you can use the DAT substitution (e.g.,
HOMV(DAT1)).
The DAT command cannot be used in an expression, such as IF(DAT2 < 5) or VAR1=1 + DAT3.
Example: Refer to the Reset Data Pointer (DATRST) command example.
DATA Data Statement

Syntax <a_><!>DATA=<r>,<r>,<r>,<r> GT6K 6.0
Units r = data value
GV6K 6.0
Range ±999,999,999.99999999
Default n/a
Response n/a
See Also [ DAT ], [ DATP ], DATPTR, DATRST, DATTCH, MEMORY
The DATA command is used only in the data programs (DATP) to identify the data statements. The DATA
command is followed by an equal sign (=), and a maximum of four data values. The maximum number of
data statements is limited only by the amount of memory available.
Example: Refer to the Reset Data Pointer (DATRST) command example.
[ DATP ] Data Program

Syntax DATPi GT6K 6.0
Units i = data program number
GV6K 6.0
Range 1-50
Default n/a
Response n/a
See Also [ DAT ], DATA, DATPTR, DATRST, DATSIZ, DATTCH, MEMORY
DATP is not a command, but is the name of the program that is the default for storing data. Fifty such data
programs can be created, DATP1 - DATP5Ø. The program is defined with the DEF command, just as any other
program would be, but only the DATA and END commands are allowed within the program definition. DATPi
will contain the array of data to be recalled by the DATi command. Upon completion of the definition, the
internal data pointer is pointing to the first datum in the data program.

Example:
DEF DATP5 ; Define data program 5
DATA=1,2,3,4 ; Enter data
DATA=5.62,6.52,7.12,8.47 ; Enter data
A(DAT5) ; Load data from data program 5 and store in axis acceleration.
; Axis acceleration = 1
V(DAT5) ; Load data from data program 5 and store in axis velocity.
; Axis velocity = 2
D(DAT5) ; Load data from data program 5 and store in axis distance.
; Axis distance = 3
; Axis acceleration = 5.62
DATPTR Set Data Pointer

Syntax <a_><!>DATPTRi,i,i GT6K 6.0
Units n/a
GV6K 6.0
Range 1st i = program # 1 to 50
2nd i = data element # 1 to 6500
3rd i = increment setting of 1 to 100
Default 1,1,1
Response n/a
See Also [ DAT ], DATA, [ DATP ], DATSIZ, DATTCH, [ DPTR ], TDPTR
The DATPTR command moves the internal data pointer to a specific data element in the specified data
program (DATPi). This command also establishes the number of data elements by which the pointer
increments after writing each data element from a DATTCH command, or after recalling a data element with
the DAT command.
The data program selected with the first integer in the DATPTR command becomes the active data program.
Subsequent DATTCH, TDPTR, and DPTR commands will reference the active data program. You can use the
TDPTR command to ascertain the current active data program, as well as the current location of the data
pointer and the increment setting (see TDPTR command description for details).
The DPTR command can be used to compare the current pointer location (the number of the data element to
which the data pointer is pointing) against another value or variable, or to assign the pointer location
number to a variable.
As an example, suppose data program #1 (DATP1) is configured to hold 15 data elements (DATSIZ1,15),
the data pointer is configured to start at the first data element and increment 1 data element after every
DATTCH value is stored (DATPTR1,1,1), and the values of numeric variables #1 through #4 are already
assigned (VAR1=2, VAR2=4, VAR3=8, VAR4=64). If you then enter the DATTCH1,2,3,4 command, the
values of VAR1 through VAR4 will be assigned respectively to the first four data elements in the data
program and the pointer will stop at data element #5. The response to the TPROG DATP1 command would
be as depicted below (the text is highlighted to illustrate the location of the data pointer after the
DATTCH1,2,3,4 command is executed). The response to the TDPTR command would be *TDPTR1,5,1.
*DATA=2.0,4.0,8.0,64.0
*DATA=0.0,0.0,0.0,0.0
*DATA=0.0,0.0,0.0,0.0
*DATA=0.0,0.0,0.0
Once you have stored (taught) the variables to the data program, you can use the DATPTR command to
point to the data elements and then use the DAT data assignment command to read the stored variables to
your motion program.
During the process of writing data (DATTCH) or recalling data (DAT), if the pointer reaches the last data
element in the program, it automatically wraps around to the first datum in the program and a warning
message is displayed (*WARNING: POINTER HAS WRAPPED AROUND TO DATA POINT 1). This warning will
not interrupt command execution.
Example: (See Also: DATSIZ command)
DEL DATP5 ; Delete data program #5 (DATP5)
DEF DATP5 ; Define data program #5 (DATP5)
DATA=5.62,6.52,7.12,8.47 ; Enter data
A(DAT5) ; Load data from DATP5 and store in axis acceleration.
V(DAT5) ; Load data from DATP5 and store in axis velocity.
; Axis velocity = 2
D(DAT5) ; Load data from DATP5 and store in axis distance.
; Axis distance = 3
DATPTR5,1,1 ; Set the data pointer to datum 1 in DATP5; increment the
; pointer by one after each DAT command
DATRST Reset Data Pointer

Syntax <a_><!>DATRST, GT6K 6.0
Units n/a
GV6K 6.0
Range 1st i = program # 1 to 50, 2nd i = data element # 1 to 6500
Default n/a
Response n/a
See Also [ DAT ], DATA, [ DATP ]
The DATRST command sets the internal data pointer to a specific data element in a data program
(DATP). As data is recalled from a data program with the DAT command, the pointer automatically
increments to the next data element. If the pointer reaches the end of the program, it automatically wraps
around to the first data element in the program. DATRST allows the pointer to be set to any location within
the data program (DATP).
Example:
DEF DATP5 ; Define data program 5
DATA=5.62,6.52,7.12,8.47 ; Enter data
V(DAT5) ; Load data from data program 5 and store in axis velocity.
; Axis velocity = 2
D(DAT5) ; Load data from data program 5 and store in axis distance.
; Axis distance = 3
DATRST5,1 ; Set the data pointer to datum 1 in data program 5

DATSIZ Data Program Size
Syntax <a_><!>DATSIZi<,i> GT6K 6.0
Units n/a
GV6K 6.0
Range 1st i = program # 0 - 50 (0 = disable)
2nd i = data element # 1 - 6500
Default 0,1
Response n/a
See Also [ DAT ], DATPTR, [ DATP ], DATTCH
The DATSIZ command creates a new data program (DATP) and establishes the number of data elements the
data program contains.
The DATSIZ command syntax is DATSIZi<,i>. The first integer (i) represents the number of the data
program (1 - 50). You can create up to 50 separate data programs. The data program is automatically given
a specific program name (DATPi). If the program number Ø is selected, then the DATTCH command is
disabled. Before creating a new data program, be sure to delete the existing data program that has the same
name. For example, if you wish to create data program #5 with the DATSIZ5,144 command and DATP5
already exists, first delete DATP5 with the DEL DATP5 command and then issue the DATSIZ5,144
command.
The second integer represents the total number of data elements (up to 6,500) you want in the data
program. Upon issuing the DATSIZ command, the data program is created with all the data elements
initialized with a value of zero. (The DATSIZ command is equivalent to creating a DATP program and
filling it with DATA=Ø.Ø,Ø.Ø,Ø.Ø,Ø.Ø commands up to the size indicated in the second integer.)
Each data statement, which contains four data elements, uses 43 bytes of memory. This amount of memory
is subtracted from the memory allocated for user programs (see MEMORY command). Use the TDIR
command to determine the amount of remaining memory for user program storage.
The data program has a tabular structure, where the data elements are stored 4 to a line. Each line of data
elements is called a data statement. Each element is numbered in sequential order from left to right (1 - 4)
and top to bottom (1 - 4, 5 - 8, 9 - 12, etc.). You can use the TPROG DATPi command ("i" represents the
number of the data program) to display all the data elements of the data program. For example, if you issue
the DATSIZ1,13 command, data program #1 (called DATP1) is created with 13 data elements initialized to
zero. The response to the TPROG DATP1 command is depicted below. Each line (data statement) begins
with DATA=, and each data element is separated with a comma.
*DATA=Ø.Ø,Ø.Ø,Ø.Ø,Ø.Ø
*DATA=Ø.Ø
The DATSIZ, DATTCH, and DAT commands will typically be used as a teach mode in this manner:
1. Issue the DATSIZ command to create (or recall) the data program.
2. Store variable data (e.g., position, acceleration, velocity, etc.) to numeric variables (VAR).
3. Use DATTCH commands to store the data from the numeric variables into the data program. You can use
the data pointer (DATPTR) command to select any data element in the data program, and to determine
the number by which the pointer increments after each value from the DATTCH command is stored.
NOTE: If the DATTCH command is issued without having issued the DATSIZ command, an error will
result.
4. Use the DAT commands to read the stored data from the data program into the variable parameters of
your motion program. You can use the DATPTR command to select any data element in the data
program, and to determine the number by which the pointer increments after each DAT command.
Any use of the DATTCH and DAT commands will reference the current active data program (DATP) specified
by the first integer of the last DATSIZ or DATPTR command. If you want to use the DATSIZ command to
recall a data program, and not create one, specify only the first integer and not the second integer. For
example, DATSIZ7 recalls data program #7 (DATP7) as the active data program.
Example:
DEL DATP5 ; Delete existing data program #5 (DATP5)
DATSIZ5,200 ; Create data program #5 (DATP5) with 200 data elements
DEF TEACH ; Begin definition of program called TEACH
MA1 ; Enable the absolute positioning mode
HOM1 ; Home (absolute position counter set to zero after homing)
DATPTR5,1,1 ; Set data pointer to data element #1 in DATP5, and increment the
; pointer by one element after every DATTCH value or DAT command
REPEAT ; Set up a loop for teaching the positions
JOY1 ; Enable joystick mode so that you can start moving the
; axis into position with the joystick. Command processing stops
; here until you activate IN.2 to disable the
; joystick mode and execute the rest of the commands in the
; repeat/until loop (assign the motor positions to the variables and
; then store the positions from the variables to the data program).
VAR1=1PM ; Store the current position in variable #1
DATTCH1 ; Store variable #1 into consecutive data elements
WAIT(IN.2=b0) ; Wait for the "joystick release" input to be de-activated
UNTIL(DPTR=1) ; Repeat loop until the data pointer wraps around to data element #1
HOM1 ; Home (absolute position counter set to zero after homing)
DATPTR5,1,1 ; Set data pointer to data element #1, read one data element at a time
REPEAT ; Set up a repeat/until loop to read all data elements
D(DAT5) ; Read position data from the data program to the distance command
GO1 ; Make the move to the positions that were taught
T.2 ; Wait 0.2 seconds
UNTIL(DPTR=1) ; Repeat loop until the data pointer wraps around to data element #1
END ; End definition of program called TEACH
DATTCH Data Teach

Syntax <a_><!>DATTCHi<,i,i,i> GT6K 6.0
Units i = number of a numeric variable
GV6K 6.0
Range i = 1-225
Default n/a
Response n/a
See Also [ DAT ], [ DATP ],DATPTR, DATSIZ, DATTCH, VAR
The Data Teach (DATTCH) command stores the values from the specified numeric variables (VAR) into the
currently active data program (i.e., the data program specified with the last DATSIZ or DATPTR
command). The value that is in the specified variable at the time the DATTCH command is executed is the
value that is stored in the data program.
If the DATTCH command is issued without having first issued the DATSIZ command, an error will result. If
a zero is entered in the first integer of the DATSIZ command (e.g., DATSIZØ), the DATTCH command is
disabled.
As indicated by the number of integers in the syntax, the maximum number of variables that can be stored
in the data program per DATTCH command is 4. The variables are stored in the data program, starting at the
current location of the data pointer. The data pointer's position can be moved to any data element in any
data program by use of the DATPTR command. After each successive DATTCH value is stored, the data
pointer will increment by the number specified in the third integer of the DATPTR command. Any data
element in the data program can be edited by setting the data pointer to that element and then issuing the
DATTCH command.
As an example, suppose data program #1 (DATP1) is configured to hold 15 data elements (DATSIZ1,15),
the data pointer is configured to start at the first data element and increment 1 data element after every
DATTCH value is stored (DATPTR1,1,1), and the values of numeric variables #1 through #4 are already
assigned (VAR1=2, VAR2=4, VAR3=8, VAR4=64). If you then enter the DATTCH1,2,3,4 command, the

values of VAR1 through VAR4 will be assigned respectively to the first four data elements in the data
program and the pointer will stop at data element #5. The response to the TPROG DATP1 command would
be as follows (the text is highlighted to illustrate the location of the data pointer after the DATTCH1,2,3,4
command is executed).
*DATA=2.Ø,4.Ø,8.Ø,64.Ø
*DATA=Ø.Ø,Ø.Ø,Ø.Ø
Example: Refer to the DATSIZ command.
DAUTOS Auto Current Standby

Syntax <a_><!>DAUTOS<r> GT6K 6.0
Units r = percent reduction of motor current
GV6K n/a
Range 0.00-99.99 : ±0.01
Default 0.00 (no current reduction) (applicable only to
Response DAUTOS *DAUTOS0 stepper axes)
See Also
The DAUTOS command allows you to let the motor cool when it is not moving. When automatic current
standby is set to a value other than 0.00 (default), the motor current will be reduced by that percentage
when the drive has not issued a motion command for one second. Full commanded current is restored upon
the first motion command that the drive issues.
WARNING: Motor torque is reduced when the motor current is reduced. Applications with vertical loads
or loads that require holding torque at zero speed should not use this feature.
DCLEAR Clear Display

Type Display (RP240) Interface Product Rev
Syntax <a_><!>DCLEARi GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 (clear all lines), 1 (clear line 1), or 2 (clear line 2)
Default n/a
Response n/a
See Also DLED, DPASS, DPCUR, DSTP, DVAR, DVARB, DVARI, DWRITE
The Clear Display (DCLEAR) command clears lines (as specified with i) of the RP240 display. After clearing a
line, the cursor will be reset to the beginning of that line (or to the beginning of line 1 if all lines are cleared).
DCLRLR Clear the Latched Status Register Bits

Syntax <a_><!>DCLRLR GT6K 6.0
Units n/a GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also DMODE, DMTLIM, DMVLIM, DIFOLD, TASX, TTRQ
TASX status register bits 18, 19, 20 and 31 (see descriptions below) indicate conditions in which drive
protective software has engaged, but drive operation continues. These status bits remain set (latched),
regardless of whether the conditions persist, and are cleared with the DCLRLR command or when you issue
a RESET or DRESET command, cycle power, or activate the Reset input.
TASX bit 18 Commanded Velocity Exceeds DMVLIM Limit (GV6K and GT6K):
Bit 18 is set when the velocity demand from the internal Gem6K control loops exceeds the
limits set by the DMVLIM command. The Gem6K drive responds to this condition by invoking
the “Override Mode,” in which the drive software clamps the maximum allowable velocity
command to the value set by DMVLIM. The Override Mode feature is applicable to the Gem6K
drive in all operating modes (DMODE).
TASX bit 19 Bridge is in Foldback Mode (GV6K only):
When a GV6K drive produces more than its rated continuous current, a software algorithm
determines on an ongoing basis the amount of power being delivered by the drive to the
motor. When this value exceeds the safe threshold for the drive, the drive either goes into
Foldback Mode or faults, depending on the DIFOLD command. For motion profiles that push
the limits of the drive’s capabilities, the drive might go into Foldback Mode for a short period
of time. Bit 19 stays latched, however, so that the user can determine that foldback occurred.
TASX bit 20 Power Dissipation Circuit Active (GV6K and GT6K):
When a Gem6K drive attempts to slow a motor down, the stored energy in the motor and load
must be absorbed by the drive. This regenerative energy will increase the bus voltage in the
drive until either a regenerative power dissipation circuit dissipates the energy or a drive over-
voltage fault (reported in TASX bit 13) occurs. In all GT6K drives, the GV6K-L3, GV6K-H20
and GV6K-H40, internal regenerative power dissipation circuitry is provided to dissipate this
energy; when this circuitry is activated, TASX bit 20 is set and latched. In the GV6K-U3,
GV6K-U6, and GV6K-U12 drives, the external ‘Gemini Power Dissipation Module’ or
‘GPDM’ option can be used to dissipate this energy — TASX bit 20 does not get set for these
drives.
TASX bit 31 Commanding Maximum Torque/Force (GV6K):
When the GV6K’s commanded torque/force reaches the limit set by DMTLIM
(TTRQ = DMTLIM), TAS bit #31 is set. This is not considered a fault condition.
DDAMPA Damping During Acceleration/Deceleration

Syntax <a_><!>DDAMPA GT6K 6.0
GV6K n/a
Range 0 (disable damping) or 1 (enable damping)
Default 0 disabled) (applicable only to
Response DDAMPA: *DDAMPA1 stepper axes)
See Also DABSD, DELVIS
When Damping During Acceleration is enabled (DDAMPA1), ABS damping (DABSD) and Electronic
Viscosity (DELVIS) function normally.
If your application requires more responsive acceleration and deceleration, you can disable Damping
During Accel/Decel with the DDAMPA0 command (DDAMPA0 is the factory default setting). This disables
ABS damping and Electronic Viscosity during acceleration and deceleration rates greater than 50
revs/sec/sec when the commanded speed exceeds 0.03 revs/sec.
Be aware that the DDAMPA0 mode allows increased jerk in your mechanical system.
An overview of the GT6K’s damping features is provided in the DABSD command descripition.

DEF Begin Program/Subroutine Definition
Type Program or Subroutine Definition Product Rev
Syntax <a_><!>DEF<t> GT6K 6.0
Units t = alpha text string (name of a program)
GV6K 6.0
Range text string of 6 characters or less
Default n/a
Response n/a
See Also $, DEL, END, ERASE, GOBUF, GOSUB, GOTO, MEMORY, PCOMP, PLCP,
PRUN, RUN, [ SS ], TDIR, TMEM, TPROG, TSS, TSTAT
The DEF command is the beginning of a program or subroutine definition. The syntax for the command is
DEF followed by 6 or fewer alpha-numeric characters. The first character may not be a number. Refer to the
MEMORY command description for information on program size restriction and total number of programs
possible per product.
All programs are stored in a binary fashion within the Gem6K. A program transferred back out (TPROG)
after it has been defined (DEF), may not look identical to the program defined. However, the program is
functionally identical.
NOTE
When defining a program and the memory limitation is exceeded, an error message will
be generated, and bit 11 of the system status register will be set (SS or TSS). The
program will be stored up to the point where the memory limitation was exceeded.
There is no actual difference in the definition of, or execution of a program versus the definition, or
execution of a subroutine. Both a program and a subroutine are defined as the set of commands between a
DEF<t> and an END command. If an invalid program/subroutine name is entered, an error message will be
generated. An invalid program/subroutine name is any name that is also a current command. (An example
of an invalid name would be DEFhom1, because it is impossible for the operating system to distinguish the
hom1 subroutine call from the HOM1 go home command.). A subroutine/program definition cannot be
assigned the name “CLR” and cannot contain any of the following characters:
!, —, #, $, %, ^, &, *, (, ), +, -, _, =, {, }, \, |, ", :, ;, ', <, >, ,, ., ?, /.
The RUN command can be used to start executing a program/subroutine. The program name by itself can
also be used to start executing a program/subroutine. A compiled motion profile must be compiled with the
PCOMP command before it can be executed with the PRUN command; and a compiled PLC (PLCP) program
must be compiled with PCOMP before it can be executed with the SCANP or PRUN command.
The GOTO and GOSUB commands can be used within a program/subroutine to go to another
program/subroutine.
NOTE: Program, compiled profile, or subroutine names must be deleted (DEL) before they can be
redefined.
Example:
DEL pick ; Delete program named pick
DEF pick ; Begin definition of program named pick
RUN pick ; Execute program pick
DEL Delete a Program/Subroutine
Syntax <a_><!>DEL<t> GT6K 6.0
Units t = alpha text string (name of a program)
GV6K 6.0
Range text string of 6 characters or less
Default n/a
Response n/a
See Also $, DEF, END, ERASE, GOSUB, GOTO, RUN
The Delete a Program/Subroutine (DEL) command removes a program or subroutine definition. The syntax
for the command is DEL followed by 6 or fewer alpha-numeric characters. To delete all programs refer to the
ERASE command. The DEL command can be placed inside a program (e.g., to delete a DATP program).
To edit an existing program, you must first delete it. The DEL command will not delete a label ($).
Example:
RUN pick ; Execute program pick
DEL pick ; Deletes program named pick
DELVIS Electronic Viscosity

Syntax <a_><!>DELVIS GT6K 6.0
Units i = gain
GV6K n/a
Range 0-7 (0 disables Electronic Viscosity)
Response DELVIS *DELVIS0 stepper axes)
See Also DACTDP, DABSD, DDAMPA, DMTR, LJRAT
When the DELVIS command is set to a non-zero value (DELVIS1 through DELVIS7), Electronic Viscosity
is invoked at speeds below 3 revs/sec. Electronic Viscosity is superseded by the ABS damping function
(enabled with the DABSD1 command) at speeds below approximately 0.2 revs/sec.
If Damping During Acceleration is disabled (DDAMPA0), Electronic Viscosity is disabled during
accelerations greater than 50 revs/sec/sec (DDAMPA0 is the factory default setting).
An overview of the GT6K’s damping features is provided in the DABSD command descripition.
NOTE: To be fully effective, the electronic viscosity function requires that you first set the system inertia
ratio (LJRAT) and configure your motor parameters. Motor parameters are automatically configured when
you select a Parker motor with the configuration tool in Motion Planner (if you are not using a Parker
motor you must individually configure each command listed in the DMTR command description). With a
setting of DELVIS5, the nominal gains (calculated based on LJRAT and the motor parameters) give the best
performance over the entire speed range, but you may adjust the DELVIS setting further as your application
warrants.

DHALL Disable Hall Sensor Checking
Syntax <a_><!>DHALL GT6K n/a
Units i = control option #
GV6K 6.0
Range 0 (Enable Hall Error Checking)
1 (Disable Hall Error Checking) (applicable only to
Default 0 servo axes)
Response DHALL: *DHALL0
See Also SHALL, THALL, TASX
NOTE: When issued, this command takes effect immediately.

Encoder Motors (with SFB1): The DHALL command controls whether or not the Hall error checking
routines are invoked once the Gemini drive determines a valid absolute position of the motor at
initialization.
These error routines include checks:
1. to see if all three Hall sensors are reporting valid states (000 and 111 are not valid).
2. to see if the Hall state signal order is correct for either positive (clockwise) or negative
(counter clockwise) motion. The Hall state order is 6, 2, 3, 1, 5, 4, 6, 2, 3, 1, 5, 4, 6 (and
so on) for a motor turning in the positive direction.
3. to see if the encoder reports a position that is within +/- 90 electrical degrees from the Hall
sensor reading.
If any or all of these three conditions are not met for more than 40 consecutive samples, the drive will fault
with BIT21 of TASX set.
NOTE: At start up, the Hall signals are used to determine the initial position of the rotor with an accuracy
of +/- 30 electrical degrees regardless of how DHALL is set. Once the motor begins to rotate and after it
passes through another valid Hall state, the motor commutation sequence switches over to using the
encoder only and therefore no longer requires the use of the Hall sensors. At this point a check is made to
see if DHALL is set to 0 (Hall checking on) or 1 (Hall checking off.)
For a complete description on how to troubleshoot Hall sensors, especially for non-Compumotor motors,
refer to the Hardware Installation Guide section on using non-Compumotor motors.
Resolver Motors (with SFB4): If you use a resolver motor, DHALL is not applicable.
DIBW Current Loop Bandwidth

Type Tuning Product Rev
Syntax <a_><!>DIBW GT6K n/a
Units i = Hz
GV6K 6.0
Range 0-5000 (motor dependent)
Default 0 (DIBW of 0 results in motor configuration error) (applicable only to
Response DIBW: *DIBW1000 servo axes)
See Also DMTLIM, DMTSCL, DMVLIM, DNOTAF, DNOTAQ, DNOTLD, DNOTLG, DPBW,
SGIRAT, TASX, TCS, TGAIN, TSGSET
AUTO-SETUP: This command is automatically set according to the Parker motor selected with the
configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are not using a
Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR
for a list of auto-configured commands.) If the drive is powered up when this command is set to zero (for
instance, if RFS is executed), the drive reports a motor configuration error with TASX bit 7, writes –32259 to
TCS, and shuts down the drive (DRIVE0).
The DIBW command sets the bandwidth of the current loop, in hertz. The drive current will be progressively
less responsive to inputs or disturbances above this frequency. Fast, short moves may require higher
settings, while systems with mechanical resonance may require lower settings, or the use of filters (see
DNOTAF, DNOTAQ, DNOTBF, DNOTBQ, DNOTLD, DNOTLG).
Low current loop bandwidth can limit the bandwidth and stiffness that can be attained in the velocity and
position loops. High bandwidths can emphasize resonance and system noise, add to heating of both motor
and drive, and increase acoustic noise produced by the motor.
NOTE: Attempting to set this value too low for the selected motor will result in a motor configuration
error. This will set TASX bit #7 and write error -32259 in the TCS configuration status register.
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide.
• Check the values of all active gains (DIBW is one of many servo gains): use TGAIN.
• Creating and invoking gain sets: see SGSET, SGENB, TGAIN, TSGSET.
DIFOLD Current Foldback Enable

Syntax <a_><!>DIFOLD GT6K n/a
GV6K 6.0
Response DIFOLD: *DIFOLD0 servo axes)
See Also
The DIFOLD command enables (1) or disables (0) the drive’s current foldback protection feature. The current
foldback feature reduces the drive’s continuous current output by 20% when sustained current has the
potential to overheat the drive.
Each drive has the following specifications. Note that current ratings are for the drive, not for the motor.
Units GV6K-L3 GV6K-U3 GV6K-U6 GV6K-U12 GV6K-H20 GV6K-H40

Drive Continuous Current Rating (100%) amps * 3 3 6 12 20 40
Drive Peak Current Rating** amps * 7.5 7.5 15 30 50 100
Maximum Time at Peak Current Rating seconds 6 6 6 6 6 6
* peak of the sinewave
** peak rating is 250% of continuous rating
If your drive is operating above its continuous rating, use the figure below to predict the number of seconds
until foldback will occur. For example, the figure shows that at the drive’s peak current rating (250% of
continuous), foldback will occur after six seconds.
Drive Current Rating vs. Time
Peak Rating = 250 %
200 %
150 %
Continuous Rating = 100 %
50 %
0
1 10 100 10 3 10 4
Time (seconds)

DIGN Current Loop Gain
Syntax <a_><!>DIGNc<r> GT6K 6.0
Units c = gain identifier letter (required);
GV6K n/a
r = gain value
Range c = A, B, C, or D; (applicable only to
DIGNA, DIGNB, DIGNC : r = 0.000 to 15.000 : ±0.001 stepper axes)
DIGND : r = 0.000 to 1.000 : ±0.001
Default r = 0.000 (DIGNc of 0 results in motor config. warning)
Response DIGNA: *DIGNA2.306
See Also DMTR, TASX, TCS
Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR for
a list of auto-configured commands.) If the drive is powered up when this command is set to zero (for instance,
if RFS is executed), the drive reports a motor configuration warning with TASX bit 28, and writes a value to the
TCS register (46 for DIGNA, 47 for DIGNB, 48 for DIGNC, or 49 for DIGND).
Use the DIGN command to set values for the gain terms in the stepper current loop, which optimizes drive
performance for a specific motor.
Setting DIGN values for Non-Parker Motors:

NOTES
• The drive must be disabled (DRIVE0) before making any changes to the DIGN values.
• When making changes to DIGNA, DIGNB and DIGNC values, the ratio between the
values must remain constant. That is, multiply or divide all three gain values by the same
amount.
• Increasing the DIGN values can improve system performance; however, setting an
excessive DIGN value will cause the motor to “sing” (emit a high-pitched squeal or
screech) when it is at rest and to heat unnecessarily
Inductance (in mH)

Calculating initial values * : DIGNA =
2
DIGNB = DIGNA * 0.0896
DIGNC = DIGNA * 0.3578
DIGND = 0.98 (this value will not be changed again)
* If these initial values cause the motor to “sing,” immediately disable the drive (DRIVE0)
and lower DIGNA, DIGNB and DIGNC by the same factor; repeat as necessary.
If motor performance is not as high as expected, increase DIGNA, DIGNB and DIGNC by the same factor
(keeping the initial ratio) until system performance is acceptable.
For additional assistance in determining DIGNc values for your motor, please consult the factory.
DJOG Enable RP240 Jog Mode

Syntax <a><!>DJOG GT6K 6.0
Units b = 0 or 1
GV6K 6.0
Range 0 = disable, 1 = enable
Default 0
Response DJOG: *DJOG0
See Also JOG, JOGA, JOGAA, JOGAD, JOGADA, JOGVH, JOGVL
The DJOG command allows you to branch into the RP240 front panel jog mode from within your user-
defined program, adjust the position of the axis, and then return to program execution.
The DJOG1 command enables the RP240 jog mode. Once the RP240 jog mode is enabled, you can use the
RP240 arrow keys to jog the axis. Unlike the JOG command, command processing is suspended after the
DJOG1 command is issued. Jogging acceleration and deceleration are performed with the parameters set
with the Jog Acceleration (JOGA) and Jog Deceleration (JOGAD) commands. Jogging velocities are set with
the Jog Velocity High (JOGVH) and the Jog Velocity Low (JOGVL) commands. Once in the RP240 Jog
Mode, you can switch between low and high jog velocities, and you can also modify the two jog velocities
using the RP240's EDIT key.
To disable the RP240 jog mode, press the MENU RECALL key or issue the immediate !DJOGØ command.
Upon exiting the RP240 jog mode, the RP240's display is cleared.
To have the jog mode continually enabled during program execution, you must use jog inputs and the JOG
command.
[ DKEY ] Value of RP240 Key

Type Display (RP240) Interface; Assignment or Comparison Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also DCLEAR, DPCUR, [ DREAD ], DREADF, DREADI, DVAR, DWRITE
The DKEY operator allows you to read the current state of the RP240 key-pad and use it in comparison
commands (e.g., IF, WHILE, etc.) or variable assignments. NOTE: If two or more keys are pressed
simultaneously, DKEY will report -1.
Syntax: VARn=DKEY where “n” is the variable number,
or DKEY can be used in an expression such as IF(DKEY=-1)
The value reported by the DKEY command is defined by the following table:
Value of DKEY Key currently active
-1 None or multiple keys
0 0
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 .
11 +/-
12 C/E
13 ENTER
14 Menu Recall
15 STOP
16 PAUSE
17 CONTINUE
21 F1
22 F2
23 F3
24 F4
25 F5
26 F6

DLED Turn RP240 Display LEDs On/Off
Syntax <a_><!>DLED GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (off) or 1 (on)
Default n/a
Response DLED: *DLED1101_0001
See Also DCLEAR, DPASS, DPCUR, DSTP, DVAR, DVARB, DVARI, DWRITE
The DLED command controls the state of the 8 programmable LEDs on the RP240. It is legal to substitute a
binary variable (VARB) for the DLED command.
Example:
DLED11XXXX01 ; Turn on LEDs 1, 2, and 8; turn off LED 7; leave LEDs 3,4,5,
; and 6 unchanged
VARB1=b10101010 ; Set bits 1, 3, 5 & 7 low, and bits 2, 4, 6, & 8 high
DLED(VARB1) ; Turn on LEDs 1, 3, 5 & 7; turn off LEDs 2, 4, 6, & 8
DMEPIT Motor Electrical Pitch

Type Motor (Linear only) Product Rev
Syntax <a_><!>DMEPIT<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units r = millimeters GV6K 6.0
Range 0 to 327.68 : ±0.01
(applicable only to
Default 0
servo axes)
Response DMEPIT: *DMEPIT40.00
See Also D, DRES, ERES
NOTE: This command is only applicable if you use the Motion Planner Setup Wizard, which uses the
DMEPIT value to convert linear units to rotary units before downloading commands to the drive. The drive
always expects rotary units. If you are not using the Motion Planner Setup Wizard, this command is not
applicable, and you must convert your linear units to rotary units.
;;;
; ;
Parker linear servo motor, this command is set to 0 and assumes a rotary motor. Refer to DMTR for a list of
auto-configured commands. For more information on linear motion, see the Programmer’s Guide.
The DMEPIT command sets the electrical pitch Linear motor track
;;;
; ;
of the magnets for use with permanent magnet
brushless linear motors. The DMEPIT value is
required to convert between linear units and
N S N S N S N S
rotary units. The electrical pitch can equated to
one revolution in a rotary motor. Mechanically,
the definition of the electrical pitch is the linear
distance between two magnets comprising a 42 mm
full magnetic cycle. The illustration shows an

Definition of DMEPIT (Electrical Pitch)
example of an electrical pitch of 42mm
(DMEPIT42).
For all rotary motors, DMEPIT is set to zero.
Converting Between Rotary and Linear Values
The Gem6K drive operates in rotary units; therefore, it expects to receive commands in rotary units and
reports operating conditions in rotary units. The setup wizard in Motion Planner (page 6) makes it easy to
perform the setup in linear units. The setup wizard automatically converts your setup parameters (in linear
units) to the appropriate Gem6K code in rotary units. You then download the generated code/file to the
drive. If you are communicating to the Gem6K over a live serial link, you must convert certain command
values from linear to rotary units before you send them to the drive. Likewise, when you query the drive for
certain conditions, or if you upload the configuration file from the drive, the command values are reported
in rotary units.
Use the following table as a guide.
Command/Parameter To convert rotary to linear, To convert linear to rotary,
multiply by: multiply by:
DMTKE (motor voltage constant) 60 DMEPIT
DMEPIT 60
DMTW (motor rated speed) DMEPIT 1000
DMVLIM (velocity limit) DMEPIT
1000
SMVER (max. allowable velocity error)
TACC (display commanded accel)
TVEL (display commanded velocity)
TVELA (display actual velocity)
TVE (display velocity error)
Velocity & Accel/Decel (e.g., V, A, AD)
DMTD (motor damping) (2 • π • 1000)2 (DMEPIT)2
DMTJ (motor/forcer mass)
LDAMP (load damping) (DMEPIT)2 (2 • π • 1000)2
DMTLIM (force limit) 2 • π • 1000 DMEPIT
DMTSCL (force scaling)
DMEPIT 2 • π • 1000
If you are constructing your own motor data files, use the formulas from the table below. The key
conversion parameter is r and is defined as:
DMEPIT ( mm )
r=
2π ⋅1000
Linear Motor Convert to rotary units

General Motion Equation F = Ma + Dv T = J α + Bω
Position x=m x
θ= = radians
r
Velocity m v radians
v= ω= =
sec r sec
Acceleration m a radians
a= α= =
sec2 r sec2
Force / Torque F=N T = F ⋅ r = Nm
Mass / Inertia M = kg J = m ⋅ r 2 = kgm 2
Damping N Nm
D= B = D ⋅ r2 =
m radians
sec sec
Flux constant V peak ,φ −φ 2π 1000 V peak ,φ −φ
K e _ linear = K e = r ⋅ K e _ Linear ⋅ =
m 60 krpm
sec

DMODE Drive Control Mode
Syntax <a_><!>DMODE GT6K 6.0
Units i = control mode setting GV6K 6.0
Range 1-17 (see table below)
Default 12
Response DMODE: *DMODE12
See Also DRES, SRSET
Use the DMODE command to select the drive control mode for your Gem6K drive. Refer to the table below
for drive mode descriptions and drive compatibility.
DMODE Mode Description GT6K GV6K
1 – 10 RESERVED ---------------- -- --
11 Feedback Alignment Mode (requires a resolver card to be installed) -- X
This mode allows you to automatically set the resolver
offset angle with the SRSET command.
12 Controller/Drive Programmed motion using internal trajectory generator. X X
— default for GT6K & GV6K drives
13 Autorun Rotates the motor at 1 rps/mps. Current is reduced by X X
10%. Refer also to the Hardware Installation Guide.
14 RESERVED ---------------- -- --
15 Torque/Force Tuning Mode 10 Hz step input of 25% rated motor current for -- X
torque/force mode tuning. *
16 Velocity Tuning Mode 1 Hz ±2 rps/mps step velocity command for velocity -- X
mode tuning. *
17 Position Tuning Mode 1 Hz ± 1/4 rev/epitch step position command for position -- X
mode tuning. *
* Refer to the servo tuning procedures in the Hardware Installation Guide for details.
DMONAS Analog Monitor Output A — Scaling

Type Outputs Product Rev
Syntax <a_><!>DMONAS GT6K 6.0
Units i = scale percentage (%) GV6K 6.0
Range -2000 to 2000
Default 100 (no scaling)
Response DMONAS: *DMONAS100
See Also DMONAV, DMONBS, DMONBV
The DMONAS command sets the amount by which the variable selected with the DMONAV command is scaled.
For example, DMONAS200 doubles the amplitude of the selected output signal. The maximum scaled output
voltage is approximately ±10V.
Monitor waveform clipping will occur if DMONAS scaling results in an output greater than ±10V.
DMONAV Analog Monitor Output A — Variable
Syntax <a_><!>DMONAV GT6K 6.0
Units i = variable number GV6K 6.0
Range 0-24 (0 = turn off output)
Default 0 (turn off output)
Response DMONAV: *DMONAV0
See Also DMEPIT, DMONAS, DMONBS, DMONBV
The DMONAV command selects the function (or signal) that will be presented at the 8-bit DAC “Analog Out A”
terminal (pin 21 on the DRIVE I/O connector).
Number Name Description GT6K GV6K
0 Unused / Turn off output No output function selected X X
1 Motor Temperature (TMTEMP) Estimated motor winding temperature based on a X
second-order thermal model (see the Hardware Installation Guide
for details). Normalized to ±10 volts equals ±250 C.
o
2 Drive Temperature (TDTEMP) Measured internal drive temperature. Normalized to X X

±10 volts equals ±250 C.
o
3 Position Error This value is normalized as follows (value clips at ±1 rev or X

±1 electrical pitch, regardless of the DMONAS setting):
• Rotary motors: ±10V = ±1 rev (based on TPER ÷ ERES)
• Linear motors: ±10V = ±1 epitch (based on TPER ÷ DMEPIT)
4 Velocity Setpoint (TVEL) User commanded velocity. Normalized to ±10 volts X X
equals ±200 revs/sec (rotary) or ±8.4 meters/sec (linear).
5 Estimated Actual Velocity (TVELA) Output of velocity estimator, based on encoder or X
resolver data. Normalized to ±10 volts equals ±200 revs/sec
(rotary) or ±8.4 meters/sec (linear).
6 Acceleration Setpoint (TACC) User commanded acceleration. X X
7 Torque/Force Setpoint (TTRQ) User commanded torque/force. X
8 Actual Torque/Force (TTRQA) Calculated torque/force based on measured motor X
current and motor Ke (DMTKE). Scaled as a % of DMTSCL.
9 Velocity Error (TVE) Normalized to ±10 volts equals ±200 revs/sec (rotary) or X
±8.4 meters/sec (linear).
10 Phase A Commanded Instantaneous commanded current for phase A (Volts per Amp). * X
Current
11 Phase A Actual Current Instantaneous measured current for phase A (Volts per Amp). * X X

13 Phase B Actual Current Instantaneous measured current for phase B (Volts per Amp). * X X
14 RESERVED
15 RESERVED
16 d-axis Commanded Commanded direct-axis current (usually 0). This current does not X
Current produce torque/force. *
17 d-axis Actual Current Estimated direct-axis current from coordinate-conversion X
software. Based on measured phase currents. *
18 q-axis Commanded Commanded quadrature-axis current. This current is proportional X
Current to commanded torque/force. *
19 q-axis Actual Current Estimated quadrature-axis current from coordinate-conversion X
software. Based on measured phase currents. This current is
proportional to actual torque/force. *
20 Phase A Applied Voltage A voltage representation of the PWM duty cycle for Phase A. X
Duty Cycle
21 Phase B Applied Voltage A voltage representation of the PWM duty cycle for Phase B. X
Duty Cycle
22 RESERVED
23 Position Setpoint This value is normalized as follows (value clips at ±1 rev or X
±1 electrical pitch (epitch), regardless of the DMONAS setting):
• Rotary motors: ±10V = ±1 rev (based on TPC ÷ ERES)
• Linear motors: ±10V = ±1 epitch (based on TPC ÷ DMEPIT)
24 Actual Position This value is normalized as follows (value clips at ±1 rev or X
• Rotary motors: ±10V = ±1 rev (based on TPE ÷ ERES)
• Linear motors: ±10V = ±1 epitch (based on TPE ÷ DMEPIT)
* The nominal Volts per Amp scaling is drive dependent, and is shown below:
Stepper Nominal (V/A) Servo Nominal (V/A)

Drive Current Scaling Drive Current Scaling
GT6K-L5 1.432 GV6K-L3 0.615
GT6K-L8 0.882 GV6K-U3 0.615
GV6K-U6 0.308
GV6K-U12 0.205
GV6K-H20 0.123
GV6K-H40 0.062
DMONBS Analog Monitor Output B — Scaling

Syntax <a_><!>DMONBS GT6K 6.0
Units i = scale percentage (%) GV6K 6.0
Range -2000 to 2000
Default 100 (no scaling)
Response DMONBS: *DMONBS100
See Also DMONAS, DMONAV, DMONBV
The DMONBS command sets the amount by which the variable selected with the DMONBV command is scaled.
The maximum scaled output voltage is ±10V.
Monitor waveform clipping will occur if DMONBS scaling results in an output greater than ±10V.
DMONBV Analog Monitor Output B — Variable
Syntax <a_><!>DMONBV GT6K 6.0
Units i = variable number GV6K 6.0
Range 0-24 (0 = turn off output)
Default 0 (turn off output)
Response DMONBV: *DMONBV0
See Also DMONAS, DMONAV , DMONBS
The DMONBV command selects the function (or signal) that will be presented at the 8-bit DAC “Analog Out B”
terminal (pin 22 on the DRIVE I/O connector).
0 Unused / Turn off output No output function selected X X
1 Motor Temperature (TMTEMP) Estimated motor winding temperature based on a X
second-order thermal model (see the Hardware Installation
Guide for details). Normalized to ±10 volts equals ±250 C.
o
2 Drive Temperature (TDTEMP) Measured internal drive temperature. Normalized to X X

±10 volts equals ±250 C.
o
3 Position Error This value is normalized as follows (value clips at ±1 rev or X

• Rotary motors: ±10V = ±1 rev (based on TPER ÷ ERES)
• Linear motors: ±10V = ±1 epitch (based on TPER ÷ DMEPIT)
4 Velocity Setpoint (TVEL) User commanded velocity. Normalized to ±10 volts X X
equals ±200 revs/sec (rotary) or ±8.4 meters/sec (linear).
5 Estimated Actual Velocity (TVELA) Output of velocity estimator, based on encoder or X
resolver data. Normalized to ±10 volts equals ±200 revs/sec
(rotary) or ±8.4 meters/sec (linear).
6 Acceleration Setpoint (TACC) User commanded acceleration. X X
7 Torque/Force Setpoint (TTRQ) User commanded torque/force. X
8 Actual Torque/Force (TTRQA) Calculated torque/force based on measured motor X
current and motor Ke (DMTKE). Scaled as a % of DMTSCL.
9 Velocity Error (TVE) Normalized to ±10 volts equals ±200 revs/sec (rotary) or X
±8.4 meters/sec (linear).
10 Phase A Commanded Current Instantaneous commanded current for phase A (Volts per Amp). X
*
11 Phase A Actual Current Instantaneous measured current for phase A (Volts per Amp). * X X
12 Phase B Commanded Current Instantaneous commanded current for phase B (Volts per Amp). X
*
13 Phase B Actual Current Instantaneous measured current for phase B (Volts per Amp). * X X
14 RESERVED
15 RESERVED
16 d-axis Commanded Current Commanded direct-axis current (usually 0). This current does X
not produce torque/force. *
17 d-axis Actual Current Estimated direct-axis current from coordinate-conversion X
software. Based on measured phase currents. *
18 q-axis Commanded Current Commanded quadrature-axis current. This current is X
proportional to commanded torque/force. *
19 q-axis Actual Current Estimated quadrature-axis current from coordinate-conversion X
software. Based on measured phase currents. This current is
proportional to actual torque/force. *
20 Phase A Applied Voltage Duty A voltage representation of the PWM duty cycle for Phase A. X
Cycle
21 Phase B Applied Voltage Duty A voltage representation of the PWM duty cycle for Phase B. X
Cycle
22 RESERVED
(Continued on next page)

23 Position Setpoint This value is normalized as follows (value clips at ±1 rev or X
±1 electrical pitch (epitch), regardless of the DMONAS setting):
• Rotary motors: ±10V = ±1 rev (based on TPC ÷ ERES)
• Linear motors: ±10V = ±1 epitch (based on TPC ÷ DMEPIT)
24 Actual Position This value is normalized as follows (value clips at ±1 rev or X
• Rotary motors: ±10V = ±1 rev (based on TPE ÷ ERES)
• Linear motors: ±10V = ±1 epitch (based on TPE ÷ DMEPIT)
* The nominal Volts per Amp scaling is drive dependent, and is shown below:
Stepper Nominal (V/A) Servo Nominal (V/A)

Drive Current Scaling Drive Current Scaling
GT6K-L5 1.432 GV6K-L3 0.615
GT6K-L8 0.882 GV6K-U3 0.615
GV6K-U6 0.308
GV6K-U12 0.205
GV6K-H20 0.123
GV6K-H40 0.062
DMTAMB Motor Ambient Temperature

Type Motor Product Rev
Syntax <a_><!>DMTAMB<r> GT6K n/a
Units r = Degrees Celsius
GV6K 6.0
Range -50.0 to 250.0 : ±0.1
Default 40.0 (applicable only to
Response DMTAMB: *DMTAMB40.0 servo axes)
See Also DMTMAX, DMTRWC, DMTTCM, DMTTCW, TASX
The DMTAMB command sets the motor ambient temperature used by the software motor thermal model. The
DMTAMB value, in conjunction with the motor thermal time constant (DMTTCM), the motor winding time
constant (DMTTCW), the motor thermal resistance (DMTRWC) and the continuous motor current (DMTIC), is
used in a real-time estimation of the motor winding temperature. When the winding temperature exceeds
DMTMAX, the drive faults and TASX bit #30 is set.
NOTE: If you cycle power, or issue a RESET or DRESET command, the drive resets its motor thermal
model (in internal software). Be aware that your motor’s winding temperature may still be high.
DMTD Motor Damping

Syntax <a_><!>DMTD<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units Rotary motor: r = Nm/rad/sec GV6K 6.0
Linear motor: r = N/meter/sec
(applicable only to
Range Rotary motor: 0.000000 to 0.010000 : ±0.000001
servo axes)
Linear motor: DMEPIT (electrical pitch) dependent
Default 0.000000
Response DMTD: *DMTD0.002000
See Also DMTR, LDAMP
NOTE: This command does not take effect until you cycle power to the drive, or issue a RESET or DRESET
command.
for a list of auto-configured commands.)
The DMTD command specifies the damping of the motor itself. This includes both magnetic losses and
bearing losses. (The load damping is specified with the LDAMP command.)
DMTIC Continuous Current

Syntax <a_><!>DMTIC<r> GT6K 6.0
Units r = Amps-RMS GV6K 6.0
Range 0.00 to 100.00 : ±0.01
Default 0.00 (DMTIC of 0 results in motor configuration warning)
Response DMTIC: *DMTIC6.50
See Also DMTICD, TASX, TCS, TDICNT
GV6K Only: This command does not take effect until you cycle power to the drive, or issue a RESET or
DRESET command.
GT6K Only: This command takes effect immediately.
instance, if RFS is executed), the drive reports a motor configuration warning with TASX bit 28, and writes 40
to TCS.
The DMTIC command sets the continuous operating current for a motor. For a servo drive operating a rotary
motor continuously at this current, the internal winding temperature will reach 125°C with a specified
heatsink (see the Gemini Motor Reference Manual for heatsink dimensions) in a 40°C ambient. For linear
servo motors, the winding will reach 90°C in a 25°C ambient.
The continuous current of a motor that is designed to provide a long service life depends on many factors.
Among them are motor ambient temperature, the degree of heatsinking provided by the motor mounting
surface, and airflow over the motor. In a stepper, the continuous current is flowing in the motor
continuously. In a servo, the continuous current is used in calculations to protect the motor from thermal
damage, and has no immediate effect on performance.
Example:
DMTIC5 ; Set the motor current to 5 amps rms (equates to 7.07 amps peak)
DMTICD Continuous Current Derating

Syntax <a_><!>DMTICD (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units i = percent derating at rated speed GV6K 6.0
Range 0.00 to 100.00 : ±0.01
(applicable only to
Default 0.00 (DMTICD of 0 results in no current derating)
servo axes)
Response DMTICD: *DMTICD5
See Also DMTIC, DMTIP, DMTW
command.

The DMTICD command sets the percentage current derating at rated speed (DMTW). This value sets the extent
to which continuous current must be reduced at speed to compensate velocity-related losses in the motor.
For example, DMTICD3 sets the motor’s continuous current derating to 3% (or 97% of continuous value
DMTIC) at the motor’s rated speed (DMTW). At half this speed, it will be reduced 1.5%.
DMTIND Motor Inductance

Syntax <a_><!>DMTIND<r> (does not take effect until RESET, DRESET or GT6K 6.0
cycle power)
Units r = mH GV6K n/a
Range 0.0 to 200.0 : ±0.1
(applicable only to
Default 0.0 (DMTIND of 0 results in motor config. error)
stepper axes)
Response DMTIND *DMTIND10
See Also DMTLMN, DMTLMX, DMTR, TASX, TCS
command.
instance, if RFS is executed), the drive reports a motor configuration error with TASX bit 7, writes a value of
-32726 to the TCS register, and shuts down the drive (DRIVE0).
The DMTIND command sets the motor phase inductance for stepper motors only (servo motor inductance is
set with DMTLMN and DMTLMX). The motor inductance entered is the motor phase inductance you measure
across one phase at the motor terminals of the drive. The inductance value is the “small signal inductance”
as measured by a hand-held or bench-top inductance meter at 1 KHz.
A procedure for configuring motor inductance (for non-Parker motors) is provided in the Configuration
chapter of the Hardware Installation Guide.
DMTIP Peak Current

Syntax <a_><!>DMTIP<r> GT6K n/a
Units r = Amps-RMS
GV6K 6.0
Range 0.00 to 128.00 : ±0.01
Default 0.00 (DMTIP of 0 results in motor config. warning) (applicable only to
Response DMTIP: *DMTIP7.50 servo axes)
See Also DMTIC, DMTICD, DMTLIM, DMTR, TASX, TCS, TDIMAX
instance, if RFS is executed), the drive reports a motor configuration warning with TASX bit 28, and a value of
51 is written to the TCS configuration status register.
The DMTIP command sets a limit that the commanded current cannot exceed. This is typically set to three
times the motor’s continuous current rating (DMTIC) or less.
If DMTIP is set higher than the full-scale value calculated by DMTLIM (torque/force limit) the new DMTIP
value will be ignored (but not overwritten), the configuration warning (TASX bit #28) will be set, a value of
51 is written to the TCS configuration status register, and the full-scale DMTLIM value will be used
internally. The configuration warning is cleared with the RESET or DRESET command or by cycling power
to the drive.
If the DMTIP value exceeds the drive’s maximum output current (TDIMAX), the DMTIP value will be ignored
and the maximum allowable value will be used (see table below).
Maximum Current Rating amps * 7.5 7.5 15 30 50 100
* peak of the sinewave
Note that the values in TDIMAX are amps (peak of the sine wave) and the value for DMTIP is in amps (rms).
They are related by:
I peak of the sine wave
I rms =
2
DMTJ Motor Rotor Inertia / Forcer Mass

Syntax <a_><!>DMTJ<r> (does not take effect until RESET, DRESET or GT6K 6.0
cycle power) GV6K 6.0
Units Rotary motor: r = kgm2 * 10-6
Linear motor: r = kg
Default 0.000 (DMTJ of 0 results in motor config. error)
Response DMTJ: *DMTJ200.600
command.
The DMTJ command sets the motor rotor inertia for rotary motors, or the forcer mass for linear motors.
DMTKE Motor Ke
Syntax <a_><!>DMTKE<r> (does not take effect until RESET, DRESET or cycle GT6K n/a
power)
Units Rotary motor: r = volts (0-peak)/krpm (measured line-to-line) GV6K 6.0
Linear motor: r = volts (0-peak)/meter/sec (measured line-to-
line) (applicable only to
servo axes)
Default 0.0 (DMTKE of 0 results in motor config. error)
Response DMTKE: *DMTKE15.0
See Also DMEPIT, DMONAV, DMONBV, DMTSCL, DMTR, TASX, TCS
command.

The DMTKE command specifies the motor voltage constant (Ke). This defaults to the nominal Ke of the
motor selected with the DMTR command.
The motor’s torque/force constant (Kt) is derived from the motor’s voltage constant (Ke) by the following
relationship:
3 3
Kt ( Nm / A* ) = * Ke(Volts * / krpm)
Rotary motors: 200π
*
peak value
3 3
Kt ( N / A* ) = * Ke (Volts * /( meter / sec))
Linear motors: 200π
*
peak value
NOTE: The Gem6K requires values in rotary units. Motion Planner does these conversions for you when
you use the Setup Wizard. If you do not use the Setup Wizard, you must convert your linear units to rotary
units. See the DMEPIT command for information on conversion.
DMTLIM Torque/Force Limit

Type System Product Rev
Syntax <a_><!>DMTLIM<r> GT6K n/a
Units Rotary motor: r = Nm
GV6K 6.0
Linear motor: r = N
Range Rotary motor: 0.0 to 500.0 (motor/drive dependent) : ±0.1 (applicable only to
Linear motor: DMEPIT (electrical pitch) dependent servo axes)
Default 0
Response DMTLIM: *DMTLIM10.5
See Also DCLRLR, DMEPIT, DMODE, DMTIP, DMTKE, DMTR, DMTSCL, TASX,
TGAIN, TSGSET, TTRQ, TTRQA
Parker Motor, this command is set to zero and you will have to manually set this parameter. Refer to DMTR for
a list of auto-configured commands.
The DMTLIM command sets a maximum torque/force limit for the system. Requests for higher torque/force
will be clamped to this value. This command will default automatically to a value appropriate to the motor
selection (DMTR) and the GV6K drive you are using, and no changes are required in many cases.
If your mechanical system has torque/force limitations (due, for example, to the limitations of a coupler or
belt), you can use this command to limit system torque/force without affecting system scaling or gains.
During initial tuning, this command can be used to limit the torque/force produced if the system becomes
unstable.This reduces the rate of motor heating, allows more reaction time for the person tuning the system,
and lessens chances of damage to the mechanical system.
When the GV6K’s commanded torque/force reaches the limit set by DMTLIM (TTRQ = DMTLIM), TASX
bit #31 is set. TASX bit #31 remains set until you clear it with the DCLRLR command, cycle power, or issue
a RESET or DRESET. This is not considered a fault condition.
If DMTLIM is set higher than the value allowed by the motor’s peak current times the motor’s Kt, or the
drive’s peak current times the motor’s Kt (whichever is lower), the new DMTLIM value will be ignored (but
not overwritten), the status warning bit #28 in TASX will be set, and the maximum internal value will be
used. This warning is cleared with the RESET or DRESET command or by cycling power to the drive.
The motor’s torque/force constant (Kt) is derived from the motor’s voltage constant (Ke, which is set by
the DMTKE command) by the following relationship (note: Ke is set with the DMTKE command):
3 3
Kt ( Nm / A* ) = * Ke(Volts * / krpm)
Rotary motors: 200π
*
peak value
3 3
Kt ( N / A* ) = * Ke(Volts * /( meter / sec))
Linear motors: 200π NOTE: The
*
peak value
Gem6K requires values in rotary units. Motion Planner does these conversions for you when you use the
Setup Wizard. If you do not use the Setup Wizard, you must convert your linear units to rotary units. See
the DMEPIT command for information on conversion.
• Check the values of all active gains (DMTLIM is one of many servo gains): use TGAIN.
DMTLMN Minimum Motor Inductance

Syntax <a_><!>DMTLMN<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units r = mH (measured line-to-line) GV6K 6.0
Range 0.1 to 200.0 (motor dependent) : ±0.1
(applicable only to
Default 0.0 (DMTLMN of 0 results in motor config. error)
servo axes)
Response DMTLMN: *DMTLMN10.0
See Also DMTLMX, DMTR, TASX, TCS
command.
The DMTLMN command specifies the minimum value of motor inductance. This will usually differ from the
nominal nameplate value because actual inductance is usually position dependent.
If DMTLMN value is less than the “Lmin” value (see table below), the drive will fault (motor configuration
error is reported in TASX bit #7).
Lmin (min. phase-phase inductance) mH 0.5 5.0 5.0 5.0 5.0 5.0

DMTLMX Maximum Motor Inductance
Syntax <a_><!>DMTLMX<r> (does not take effect until RESET, DRESET or cycle GT6K n/a
power)
Units r = mH (measured line-to-line) GV6K 6.0
Range 0.1 to 200.0 (motor dependent) : ±0.1
(applicable only to
Default 0.0 (DMTLMX of 0 results in motor config. error)
servo axes)
Response DMTLMX: *DMTLMX10.0
See Also DMTLMN, DMTR, TASX, TCS
command.
configuration utility in Motion Planner (see page 6) . If you did not use the configuration utility or are not using
a Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR
The DMTLMX command specifies the maximum value of motor inductance. This will usually differ from the
nominal nameplate value since actual inductance is usually position dependent.
DMTMAX Maximum Motor Winding Temperature

Syntax <a_><!>DMTMAX<r> GT6K n/a
Units r = Degrees Celsius
GV6K 6.0
Range -50.0 to 250.0 : ±0.1
Response DMTMAX: *DMTMAX125.0 servo axes)
See Also DMTAMB, DMTIC, DMTRWC, DMTTCM, DMTTCW, TASX
Parker Motor, you will have to manually set this parameter. (Refer to DMTR for a list of auto-configured
commands.)
The DMTMAX command sets the maximum motor winding temperature allowed. The DMTMAX value, in
conjunction with the motor thermal time constant (DMTTCM), the motor winding time constant (DMTTCW),
the motor thermal resistance (DMTRWC) and the continuous motor current (DMTIC), is used in a real-time
estimation of the motor winding temperature. When the winding temperature exceeds DMTMAX, the drive
faults and TASX bit #30 is set.
NOTE: If you cycle power, or issue a RESET or DRESET command, the drive resets its motor thermal
model (in internal software). Be aware that your motor’s winding temperature may still be high.
DMTR Identify (and Load) Motor
Syntax <a_><!>DMTR GT6K 6.0
Units i = Parker motor identification number GV6K 6.0
Range 0-3000 (0 = non-Parker motor; 1-3000 = Parker motor)
Default -1 (motor config. Parameters are not configured)
Response DMTR: *DMTR50
See Also (see parameter table below), DRIVE, RESET, RFS, TASX, TCS
The purpose of the DMTR command is to record and report the identification number of the Parker motor
you selected in the setup tool in Motion Planner (see page 6).
When you select a specific Parker motor using the Motion Planner setup tool, the DMTR setting and various
motor parameters (see list below) are automatically configured for the associated motor and saved in a
configuration file. After you download the configuration file to the Gem6K drive, you must cycle drive
power, or issue a RESET or DRESET command for the DMTR and all the motor parameter commands to take
effect. (NOTE: If you do not select a Parker motor, the default setting, DMTR-1, is used and you must set
all relevant motor parameters manually.) Avoid using the DMTR command to change the motor number,
because the new DMTR value may not represent the actual motor parameters that are currently loaded in the
drive. Instead, use the Motion Planner setup tool to change the motor number.
Stepper Motor Data Parameters Servo Motor Data Parameters
DIGNA .......Current Loop Gain A DIBW .......... Current Loop Bandwidth DMTSCL .... Torque/Force Scaling
DIGNB .......Current Loop Gain B DMEPIT ...... Motor Electrical Pitch DMTTCM .... Motor Thermal Time Constant
DIGNC .......Current Loop Gain C DMTD .......... Motor Damping DMTTCW .... Motor Winding Time Constant
DIGND .......Current Loop Gain D DMTIC ........ Continuous Current DMTW ........ Motor Rated Speed
DMTIC .......Continuous Current DMTICD ...... Continuous Current Derating DMVLIM .... Velocity Limit
DMTIND .....Motor Inductance DMTIP ........ Peak Current DPBW ........ Position Loop Bandwidth
DMTJ .........Motor Rotor Inertia DMTJ .......... Motor Rotor Inertia DPOLE ...... Number of Motor Pole Pairs
DMTRES .....Motor Winding Resistance DMTKE ........ Motor Ke DRES ........ Drive Resolution
DMTSTT .....Motor Static Torque DMTLIM ...... Torque/Force Limit ERES ........ Encoder Resolution
DMVLIM .....Velocity Limit DMTLMN ...... Minimum Motor Inductance ORES ........ Encoder Output Resolution
DPOLE .......Number of Motor Pole Pairs DMTLMX ...... Maximum Motor Inductance SFB........... Feedback Source Selection
DMTMAX ...... Maximum Motor Winding Temp. SRSET ...... Resolver Offset Angle
DMTRES ...... Motor Winding Resistance
DMTRWC ...... Motor Winding Thermal Resistance
Although these command values are auto-configured when you select a Parker motor (using the setup tool in Motion Planner), you may
individually set the command values with the respective configuration command.
Motor Configuration Error

For many of the above motor parameters, if they are not configured (i.e., a command is left at its factory default
value, or an RFS command is executed) when the Gem6K drive is powered up, a motor configuration “error” or
“warning” is reported in TASX bit #7 or bit #28 (an “error” also disables the drive – DRIVE0). To resolve the error or
warning condition, you must select a Parker motor with Motion Planner (or configure each motor parameter
command with a value other than zero – using a Gem6K terminal emulator), download the resulting configuration
information and then cycle power, or issue the RESET or DRESET command.
Updating the motor data table. The motor information for the parameters list above is located in a file
named “GEM_motors.mtr” and is used by Motion Planner to configure the Gem6K drive. Updates to this file
are maintained on the Compumotor web site (http://www.compumotor.com) — search for “GEM_motors.mtr”.
If you need to update the information, download the latest motor table file. If you are using Motion Planner,
place the updated file in the Motion Planner directory (default location is \Program Files\Compumotor\Motion
Planner).

DMTRES Motor Winding Resistance
Syntax <a_><!>DMTRES<r> (does not take effect until RESET, DRESET or GT6K 6.0
Units r = Ohm (measured line-to-line)
Range 0.00 to 50.00 : ±0.01
Default 0.00 (DMTRES of 0 results in motor config. error)
Response DMTRES: *DMTRES7.50
command.
The DMTRES command sets the motor winding resistance. This resistance value is measured at 25 °C at the
drive end of the motor cable (motor cable included). For steppers, this resistance is a phase resistance
measured at terminals A+ to A-, or B+ to B-. For servos, this resistance is the phase-to-phase resistance
measured at termnals U to V, V to W, or W to U.
NOTE: Disconnect the motor cable from the drive before attempting to make this measurement. For best
accuracy, and to avoid injury, this measurement must be made with the motor cable disconnected from the
drive.
DMTRWC Motor Winding Thermal Resistance

Syntax <a_><!>DMTRWC<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
GV6K 6.0
Units r = Degrees Celsius/Watt (°C/W)
Range 0.00 to 50.00 : ±0.01
(applicable only to
Default 0.00 servo axes)
Response DMTRWC: *DMTRWC23.60
See Also DMTR, DMTTCM, DMTTCW, TASX, TCS
command.
DMTRWC specifies the temperature rise of the motor winding above motor case temperature per watt of
winding power dissipation. Motor heatsinking does not affect this value. See the DMTMAX command for
more information on how the drive estimates motor temperature.
DMTSCL Torque/Force Scaling
Syntax <a_><!>DMTSCL<r> GT6K n/a
Units Rotary motor: r = Nm
GV6K 6.0
Linear motor: r = N
Range Rotary motor: 0.0 to 500.0 (motor/drive dependent) : ±0.1 (applicable only to
Default 0
Response DMTSCL: *DMTSCL20.0
See Also DMEPIT, DMONAV, DMONBV, DMTKE, DMTLIM, TTRQ, TTRQA
The DMTSCL command scales the torque/force (TTRQ and TTRQA). Motion Planner’s configuration utility
will set the DMTSCL value according to the Parker motor you select. If you use a non-Parker motor, set the
full-scale DMTSCL value according to the peak torque/force your motor can produce (in newton-meters for
rotary motors, or newtons for linear motors.
DMTLIM may limit torque/force to less than this full-scale value.
DMTSTT Motor Static Torque

Syntax <a_><!>DMTSTT (does not take effect until RESET, DRESET or GT6K 6.0
cycle power)
Units i = oz-in GV6K n/a
Range 0 to 5000
(applicable only to
Default 0 (DMTSTT of 0 results in motor config. error)
stepper axes)
Response DMTSTT *DMTSTT410
command.
The DMTSTT command sets the motor static torque. The motor static torque is the motor holding torque
measured in the “one phase on” condition. The “one phase on” condition is measured with the peak motor
current in one phase.

DMTTCM Motor Thermal Time Constant
Syntax <a_><!>DMTTCM<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units r = minutes GV6K 6.0
Range 0.0 to 300.0 : ±0.1
(applicable only to
Default 0.0
servo axes)
Response DMTTCM: *DMTTCM30.4
See Also DMTR, DMTTCW
command.
The DMTTCM command specifies the thermal time constant of the motor and its mounting. This value is
used to help protect the motor from thermal damage. It describes the length of time the motor takes to reach
63% of it’s final temperature, given constant power. Note that motor mounting will affect this.
Continuous current ratings and published time constants for Parker motors are specified when mounted to a
10" x 10" x ¼" aluminum plate in 25 °C free air. If your mounting surface provides heatsinking or thermal
mass significantly different than this, a different value may be appropriate to your application. Note also
that the time constant of the motor winding itself (DMTTCW) is much faster than this; therefore, the rise in
winding temperature will initially be much faster than DMTTCM would suggest.
DMTTCW Motor Winding Time Constant

Syntax <a_><!>DMTTCW<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units r = minutes GV6K 6.0
Range 0.00 to 100.00 : ±0.01
(applicable only to
Default 0.00
servo axes)
Response DMTTCW: *DMTTCW28.40
See Also DMTMAX, DMTR, DMTTCM, DMTRWC
command.
The DMTTCW command specifies the time constant of the motor winding alone. This is the time for the
winding to reach 63% of it’s final temperature rise above the rest of the motor, given constant power. Note
that this is NOT the time constant usually specified in motor data sheets (see DMTTCM); the DMTTCW value is
typically much faster.
DMTW Motor Rated Speed
Syntax <a_><!>DMTW<r> (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units Rotary motor: r = revs/sec GV6K 6.0
Linear motor: r = meters/sec
(applicable only to
servo axes)
Default 0.0 (DMTW of 0 results in motor config. error)
Response DMTW: *DMTW150.0
See Also DMEPIT, DMTICD, DMTR, TASX, TCS
command.
The DMTW command specifies the rated speed of the motor. This is the lesser of:
• (rotary motor) The motor mechanical limit of 7500 RPM (125 rps)
• (rotary motor) The encoder limit of 6000 rpm (100 rps) for a 1000-line encoder
• Linear motor speed limitations include encoder resolution and track length.
• The corner of the continuous speed/torque or speed/force curve (the point where the continuous
torque/force breaks downward).
The DMTW value is used in conjunction with DMTICD to protect the motor from thermal damage.
DMVLIM Velocity Limit

Syntax <a_><!>DMVLIM<r> GT6K 6.0
Units Rotary motor: r = revs/sec GV6K 6.0
Linear motor: r = meters/sec
Range Rotary motor: GT6K: 0.000000 to 60.000000 : ±0.000001
GV6K: 0.000000 to 200.000000 : ±0.000001
Default GT6K: 50.000000
GV6K: 200.000000
Response DMVLIM: *DMVLIM50.000000
See Also DCLRLR, DMODE, DMTR, SGVRAT, TASX, TGAIN, TSGSET
The DMVLIM command sets a limit that commanded velocity cannot exceed, without affecting gains or
scaling. This is typically used to protect parts of the mechanical system.
In controller/drive mode (DMODE12), DMVLIM clamps the command to the specified value.
If the velocity demand from the internal Gem6K control loops exceeds the limits set by DMVLIM, then TASX
bit 18 will be set. The Gem6k responds to this condition by invoking the “Override Mode,” in which the

drive software clamps the maximum allowable velocity command to the value set by DMVLIM. Bit 18 stays
latched until a DCLRLR, RESET or DRESET is issued.
Changes to the DMVLIM command are not allowed while motion is in progress.
• Check the values of all active gains (DMVLIM is one of many servo gains): use TGAIN.
DNOTAD Notch Filter A Depth

Syntax <a_><!>DNOTAD GT6K n/a
Units n/a
GV6K 6.0
Range 0.0000 - 1.0000
Default 0.0000 (depth is zero) (applicable only to
Response DNOTAD: *DNOTAD.5 servo axes)
See Also DMODE, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, DNOTLG,
DPBW, TGAIN, TSGSET
The DNOTAD command sets the depth for the commanded torque/force notch filter A. Setting this to 0
disables the filter. This command is useful in adjusting the maximum allowable attenuation and phase shift
through the filter. The deeper the notch depth, the more attenuation and phase shift. In general, the notch
depth is increased until the resonance is diminished. Increasing the depth further might increase the phase
shift to an unacceptable level and decrease the overall system performance.
There are two cascaded notch filters labeled “A” and “B”. Both filters operate in exactly the same way. The
diagram below shows the topology of these filters.
Velocity Actual
Torque Command Limit Torque
(from Position Controller) Check Command
NOTCH NOTCH Lag/Lead Torque
Filter A Filter B Filter Limit
Check
NOTCH Filter NOTCH Filter

Command Command
Input Torque Output Torque
The graphs below illustrate the transfer function for the magnitude and phase of the notch filter command
output torque/force vs. the notch filter command input torque/force. In this example, the notch depths are
set to .3, .6, and .9 (DNOTAD.3, DNOTAD.6, DNOTAD.9). The notch center frequency is set to 200 Hz
(DNOTAF200) and the “Q” is set to 1 (DNOTAQ1).
10
80
5
60
DNOTAD.3
0
Phase shift, degrees

40
Magnitude, dB 5 DNOTAD.6 20
DNOTAD.6
DNOTAD.3
10 0
DNOTAD.9 -20
15
20
-40 DNOTAD.9
-60
25
-80
30
0 1 2 3 4 0 1 2 3 4
10 10 10 10 10 10 10 10 10 10
Frequency, Hz Frequency, Hz
These filters operate in all DMODE settings, except Autorun (DMODE13) and Torque/Force Tuning mode
(DMODE15).
• Check the values of all active gains (DNOTAD is one of many servo gains): use TGAIN.
DNOTAF Notch Filter A Frequency

Syntax <a_><!>DNOTAF GT6K n/a
Units i = Hz
GV6K 6.0
Range 0 (disable), or 60-1000
Default 0 (filter is disabled) (applicable only to
Response DNOTAF: *DNOTAF200 servo axes)
See Also DNOTAD, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, DNOTLG, TASX,
TCS, TGAIN, TSGSET
The DNOTAF command sets the center frequency for the commanded torque/force notch filter A. Setting
this to 0 disables the filter. If setting a value results in an internal calculation error, the last valid value is
used, TASX bit #28 is set, and a value of 551 is written to the TCS register.
There are two cascaded notch filters labeled “A” and “B”. Both filters operate in exactly the same way. The
graphs below illustrate the transfer function (magnitude and phase) of the input commanded torque/force
vs. the output commanded torque/force. In this example, the notch frequency is set to 150 Hz (DNOTAF150)
and the “Q” is set to 1 (DNOTAQ1).
10 100
DNOTAF150 80
0 60
Filter Response, dB
Phase shift, degrees
40
10 20
DNOTAF150
0
20 20
40
30 60
80
40 3 4 100 3 4
1 10 100 10 10 1 10 100 10 10
These filters operate in all DMODE settings, except Autorun (DMODE13) and Torque/Force Tuning mode
(DMODE15).
• Check the values of all active gains (DNOTAF is one of many servo gains): use TGAIN.

DNOTAQ Notch Filter A Quality Factor
Syntax <a_><!>DNOTAQ<r> GT6K n/a
Units r = quality factor
GV6K 6.0
Range 0.5 to 2.5
Response DNOTAQ: *DNOTAQ1.5 servo axes)
See Also DNOTAD, DNOTAF, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, DNOTLG, TGAIN,
TSGSET
The DNOTAQ command sets the quality factor (Q) for notch filter A. For a description of the filter’s transfer
function characteristics, refer to the DNOTAF command description.
• Check the values of all active gains (DNOTAQ is one of many servo gains): use TGAIN.
DNOTBD Notch Filter B Depth

Syntax <a_><!>DNOTBD GT6K n/a
Units n/a
GV6K 6.0
Range 0.0000 - 1.0000
Default 0.0000 (depth is zero) (applicable only to
Response DNOTBD: *DNOTBD.5 servo axes)
See Also DNOTAD, DNOTAF, DNOTAQ, DNOTBF, DNOTBQ, DNOTLD, DNOTLG, TGAIN,
TSGSET
The DNOTBD command sets the depth for the commanded torque/force notch filter B. Refer to DNOTAD for a
complete description of the notch filter depth.
• Check the values of all active gains (DNOTBD is one of many servo gains): use TGAIN.
DNOTBF Notch Filter B Frequency

Syntax <a_><!>DNOTBF GT6K n/a
Units i = Hz
GV6K 6.0
Response DNOTBF: *DNOTBF200 servo axes)
See Also DNOTAD, DNOTAF, DNOTAQ , DNOTBD, DNOTBQ, DNOTLD, DNOTLG,
TGAIN, TSGSET
The DNOTBF command sets the center frequency for notch filter B. Setting this to 0 disables the filter. For a
description of the filter’s transfer function characteristics, refer to the DNOTAF command description.
• Check the values of all active gains (DNOTBF is one of many servo gains): use TGAIN.
DNOTBQ Notch Filter B Quality Factor
Syntax <a_><!>DNOTBQ<r> GT6K n/a
Units r = quality factor
GV6K 6.0
Range 0.5 to 2.5
Response DNOTBQ: *DNOTBQ1.5 servo axes)
See Also DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLD, DNOTLG, TGAIN, TSGSET
The DNOTBQ command sets the quality factor (Q) for notch filter B. For a description of the filter’s transfer
function characteristics, refer to the DNOTAF command description.
• Check the values of all active gains (DNOTBQ is one of many servo gains): use TGAIN.
DNOTLD Notch Lead Filter Break Frequency

Syntax <a_><!>DNOTLD GT6K n/a
Units i = Hz
GV6K 6.0
Response DNOTLD: *DNOTLD200 servo axes)
See Also DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLG, TASX, TGAIN,
TSGSET
The DNOTLD command sets the break frequency of the lead filter. This filter cannot be used alone, but must
be used in conjunction with the DNOTLG lag filter. The DNOTLG lag filter must be configured before the
DNOTLD lead filter is configured.
The DNOTLD value must be less than or equal to 4 times the DNOTLG (notch lag frequency) value; otherwise,
the new DNOTLD value will be ignored (but not overwritten), the configuration warning bit (TASX bit #28)
will be set, and the last valid DNOTLD value will be used internally.
This filter operates in all DMODE settings, except Autorun (DMODE13) and Torque/Force Tuning mode
(DMODE15).
In the graphs below, the transfer function is shown relating the internal commanded torque/force vs. the
user commanded torque/force. In this example, the lag frequency was set first to 40 Hz (DNOTLG40) and
then the lead filter was set to 160 Hz (DNOTLD).
5 5
0
DNOTLG40
0 5
Phase shift, Degrees
DNOTLD160 DNOTLD160
Filter Response, dB
10
5 15
DNOTLG40 20
10 25
30
15 35
40
20 3 4 45 3 4
1 10 100 10 10 1 10 100 10 10

• Check the values of all active gains (DNOTLD is one of many servo gains): use TGAIN.

DNOTLG Notch Lag Filter Break Frequency
Syntax <a_><!>DNOTLG GT6K n/a
Units i = Hz
GV6K 6.0
Response DNOTLG: *DNOTLG400 servo axes)
See Also DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, TGAIN,
TSGSET
The DNOTLG command sets the break frequency of the lag filter. This filter can be used alone, or in
conjunction with lead filter (DNOTLD) to improve the phase response of the notch filters. In this case, the lag
value (DNOTLG) must be greater than or equal to ¼ of the lead value (DNOTLD), but not greater than the
DNOTLD value.
If DNOTLG is lower than ¼ the value of DNOTLD, the new DNOTLG value will be ignored (but not
overwritten), the configuration warning bit (TASX bit #28) will be set, and the last valid DNOTLG value will
be used internally.
This filter operates in all DMODE settings, except Autorun (DMODE13) and Torque/Force Tuning mode
(DMODE15).
• Check the values of all active gains (DNOTLG is one of many servo gains): use TGAIN.
DPASS Change RP240 Password

Syntax <a_><!>DPASS GT6K 6.0
Units i = integer of up to 4 characters
GV6K 6.0
Range 1 – 9999
Default For the Gx6K: DPASS6000
Response DPASS: * DPASS6000
See Also DCLEAR, DLED, DPCUR, DSTP, DVAR, DVARB, DVARI, DWRITE
The DPASS command changes the RP240 password. If the default password is not changed by the user,
then there will be no password protection.
Example:
DPASS1234 ; New password = 1234
DPBW Position Loop Bandwidth

Syntax <a_><!>DPBW<r> GT6K n/a
Units r = Hz
GV6K 6.0
Range 1.00 to 100.00 : ±0.01
Response DPBW: *DPBW10.00 servo axes)
See Also DIBW, DMTR, SGPRAT, LJRAT, TGAIN, TSGSET
The DPBW command sets the bandwidth of the position loop. Higher values will increase responsiveness
and dynamic stiffness. Excessive position loop bandwidth can result in reduced stability, causing long
settling times; this is particularly true in applications with resonant mechanics.
• Check the values of all active gains (DPBW is one of many servo gains): use TGAIN.
DPCUR Position Cursor

Syntax <a_><!>DPCURi,i GT6K 6.0
Units 1st i = line number, 2nd i = column
GV6K 6.0
Range line number = 1 or 2; column = 0 - 39
Default n/a
Response n/a
See Also DCLEAR, DLED, DPASS, DREADI, DSTP, DVAR, DVARI, DVARB, DWRITE
The DPCUR command changes the location of the cursor on the RP240 display. The RP240 lines are
numbered from top to bottom, 1 to 2. The columns are numbered left to right, 0 to 39.
0 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39
0 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39
F1 F2 F3 F4 F5 F6
Example:
DPCUR2,15 ; Position cursor on line 2, column 15
DPHBAL Phase Balance

Syntax <a_><!>DPHBAL<r> GT6K 6.0
Units r = percent of (peak) nominal commanded current
GV6K n/a
Range 90.0 to 110.0 : ±0.1
Response DPHBAL: *DPHBAL100.0 stepper axes)
See Also DPHOFA, DPHOFB, DWAVEF
The DPHBAL command adjusts the current amplitude of phase B with respect to phase A.
A procedure for configuring Phase Balance is provided in the Configuration chapter of the Hardware
Installation Guide.
Example:
DPHBAL110 ; sets the current amplitude of phase B to 110%
; of the current in phase A.

DPHOFA Phase A Current Offset
Syntax <a_><!>DPHOFA<r> GT6K 6.0
Units r = no units
GV6K n/a
Range -10.000 to 10.000 : ±0.001
Response DPHOFA: *DPHOFA5.000 stepper axes)
See Also DPHBAL, DPHOFB, DWAVEF
The DPHOFA command adjusts the current offset of phase A.

A procedure for configuring phase offset is provided in the Configuration chapter of the Hardware
Installation Guide.
DPHOFB Phase B Current Offset

Syntax <a_><!>DPHOFB<r> GT6K 6.0
Units r = no units
GV6K n/a
Range -10.000 to 10.000 : ±0.001
Response DPHOFB: *DPHOFB5.000 stepper axes)
See Also DPHBAL, DPHOFA, DWAVEF
The DPHOFB command adjusts the current offset of phase B.

A procedure for configuring phase offset is provided in the Configuration chapter of the Hardware
Installation Guide.
DPOLE Number of Motor Pole Pairs

Syntax <a_><!>DPOLE (does not take effect until RESET, DRESET or GT6K 6.0
Units i = pole pairs
Range 1-200
Default 0 (DPOLE of 0 results in motor config. error)
Response DPOLE: *DPOLE50
command.
The DPOLE command sets the number of motor pole pairs. The number of  P
pole pairs is defined as the number of poles (P), divided by 2 (or, P/2). The ωe =   *ωm
electrical frequency of the current (ωe) is related to the mechanical speed (ωm)  2
of the motor by the pole pairs. The equation (right) shows this relationship.
NOTES:
• A 1.8o step motor will have 50 pole pairs, a 0.9o step motor will have 100 pole pairs.
• All linear motors, regardless of the number of stator poles, are considered to be one pole pair
(DPOLE1) machines.
[ DPTR ] Data Pointer Location
Type Data Storage; Assignment or Comparison Product Rev
Syntax see below GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ DAT ], DATA, [ DATP ], DATPTR, DATSIZ, TDPTR
The DPTR command can be used to compare the current pointer location (the number of the data element to
which the data pointer is pointing) against another value or numeric variable, or to assign the pointer location
number to a variable. The current data pointer location is referenced to the current active data program
specified in the first integer of the last DATSIZ or DATPTR command.
Syntax: VARn=DPTR where “n” is the variable number,
or DPTR can be used in an expression such as IF(DPTR=1)
Example:
DATSIZ4,200 ; Create data program called DATP4 with 200 data elements
DATPTR4,20,2 ; Set the data pointer to data element #20 in DATP4 and set the
; increment to 2 (DATP4 becomes the current active data program)
VAR1=DPTR ; Assign the number of the pointer location in DATP4 to numeric
; variable #1
VAR1 ; Response is *VAR1=20. Indicates that the data pointer is
; pointing to data element #20.
DPWM Drive PWM Frequency

Syntax <a_><!>DPWM (does not take effect until RESET, DRESET or cycle GT6K n/a
power)
Units kHz GV6K 6.0
Range 0, 8, 16, 20 or 40
(applicable only to
Default 0 (use the drive’s default frequency):
servo axes)
GV6K-U3, GV6K-U6, GV6K-U12, GV6K-H20, GV6K-H40: 8 KHz
GV6K-L3: 40 KHz
Response DPWM8
See Also
command.
Use the DPWM command to select the drive’s PWM frequency. This value is the internal PWM frequency as
seen at the motor windings; the motor ripple current is twice this frequency. In general, for a given drive
power level, the higher the switching frequency, the lower the motor ripple current heating and the lower
both the peak and continuous current ratings.
The table below lists the drive’s continuous current and peak current ratings for different PWM
frequencies.
CONTINUOUS CURRENT PEAK CURRENT
Drive Input Voltage DPWM8 DPWM16 DPWM20 DPWM40 DPWM8 DPWM16 DPWM20 DPWM40
GV6K-L3 120VAC, 1 phase n/a n/a n/a 3.0A n/a n/a n/a 7.5A
GV6K-U3* 240VAC, 1 phase 3.0A n/a n/a n/a 7.5A n/a n/a n/a
GV6K-U6* 240VAC, 1 phase 6.0A 4.5A 3.6A n/a 15.0A 11.2A 9.0A n/a
GV6K-U12* 240VAC, 1 phase 12.0A 9.0A 7.2A n/a 20.0A 22.5A 18.0A n/a
GV6K-H20 240VAC, 1 phase 16.0A 13.0A 11.0A n/a 50.0A 32.5A 27.5A n/a
* Current Ratings are the same for 120VAC operation
Note: All currents are peak of the sine wave values

[ DREAD ] Read RP240 Data
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ DREADF ], DREADI, DVAR, DWRITE, [ SS ], TSS, VAR
The DREAD command allows you to store numeric data entered from the RP240's keypad into a variable. As
the user presses RP240 numeric keys, the data will be displayed on the RP240 starting at the location equal
to the current cursor location + 1 (for a sign bit):
VAR1=DREAD Wait for RP240 numeric entry (terminated with the ENTER key), then set
VAR1 equal to that value.
Additionally the DREAD command can be used as a variable assignment within another command that is
expecting numeric data (Rule of Thumb: If the command syntax shows that the command field requires a
real number (denoted by <r>) or an integer value (denoted by ), you can use the DREAD substitution.):
A(DREAD) Wait for RP240 numeric entry (terminated with the ENTER key), then set
acceleration equal to that value.
The DREAD command cannot be used in an expression such as VAR5=4+DREAD or IF(DREAD=1).
[ DREADF ] Read RP240 Function Key

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ DREAD ], DREADI, DVAR, DWRITE, [ SS ], TSS, VAR, VARI
The DREADF command allows you to store numeric data entered from an RP240 function key into a variable.
Function key 1 (F1) = 1, F2 = 2, etc., and MENU RECALL (F0) = 0.
Rule of Thumb for command value substitutions: If the command syntax shows that the command field
requires a real number (denoted by <r>) or an integer value (denoted by ), you can use the DREADF
substitution (e.g., V(DREADF)).
Example:
VAR1=DREADF ; Wait for RP240 function key entry, then set VAR1 equal to that value
IF(VAR1=5) ; If function key 5 was hit then ...
GO1 ; Start motion

DREADI RP240 Data Read Immediate Mode
Syntax <a_><!>DREADI GT6K 6.0
Units n/a
GV6K 6.0
Range 1 (enable) or 0 (disable)
Default 0
Response DREADI: *DREADI0
See Also DPCUR, [ DREAD ], [ DREADF ], VAR, VARI
The DREADI1 command allows continual numeric or function key data entry from the RP240 (when used
in conjunction with the DREAD and/or DREADF commands). In this immediate mode, program execution is
not paused (waiting for data entry) when a DREAD or DREADF command is encountered.
NOTES
• While in the Data Read Immediate Mode (DREADI1), data is read into VAR and VARI variables only
(e.g., A(DREAD) or V(DREAD) substitutions are not valid).
• This feature is not designed to be used in conjunction with the RP240's standard menus (see
Programmer's Guide for menu structure); the RUN and JOG menus will disable the DREADI mode.
• After the RP240’s ENTER key is pressed (to enter numeric data), the value is displayed on the
RP240 display at the 1,30 location (showing 10 significant digits).
• Do not assign the same variable to read numeric data and function key data—pick only one.
Simple Numeric Data Entry (example):

VAR1=25000 ; Initialize variable #1
DCLEAR0 ; Clear entire RP240 display
DWRITE"ENTER VALUE > " ; Send message to RP240 display starting at location 1,0
DREADI1 ; Enable RP240 data read immediate mode
VAR1=DREAD ; Set variable #1 (VAR1) to receive data entered on the RP240.
; Current VAR1 data will be displayed at cursor location 1,30
; (fixed). New data will be displayed at current cursor location
; as defined by the previous DCLEAR, DWRITE and DPCUR commands—
; this is the home cursor location for subsequent data entries.
L77 ; Start loop of 77 repetitions
D(VAR1) ; Set distance equal to the current (last entered) RP240 data
GO1 ; Initiate move
LN ; End loop
DREADI0 ; Exit RP240 data read immediate mode
; As the loop is running, the user may enter in a new distance value
; (which must be terminated with the ENTER key) via the RP240 numeric keypad.
; The numeric keystrokes cause the digits to be displayed on the RP240
; starting at the home cursor location (see VAR1=DREAD description in the
; example above). When the ENTER key is pressed, the variable is updated;
; the most significant 10 digits (total, including sign & decimal point
; if appropriate) of this variable are displayed at cursor location 1,30;
; and then the data entry field (starting at home) is cleared.
; The Gem6K drive is ready to accept new data.
Numeric Data & Function Key Entry (example):

DCLEAR0 ; Clear the RP240 display
DPCUR2,0 ; Place RP240 cursor on line 2, column 0 (bottom left corner of
; display)
DWRITE" SLOW FAST" ; Send message to RP240 display starting at location 2,0
DPCUR1,0 ; Place RP240 cursor on line 1, column 0 (top left corner)
DWRITE"ENTER VALUE > " ; Send message to RP240 display starting at location 1,0
VAR1=DREAD ; Set variable #1 (VAR1) to receive numeric data entered on the
; RP240's keypad
VAR2=DREADF ; Set VAR2 to receive RP240 function key input
L ; Begin loop

IF(VAR2=1) ; If function key 1 was last pressed, do the IF statement
; (slow velocity)
V3.6 ; Set velocity to 3.6 units per second
IF(VAR2=2) ; If function key 2 was last pressed, do the IF statement
; (fast velocity)
V6.4 ; Set velocity to 6.4 units per second
D(VAR1) ; Set distance equal to the current (last entered) RP240 numeric
; data
GO1 ; Initiate the move
LN ; End loop
; As the loop is running, the user may enter in a new distance value and/or
; choose between two different preset velocities. The display does not change
; when a function key is pressed.
Multiple Numeric Data Entry (example):

VAR2=0 ; Initialize variable #2 (VAR2)
DCLEAR0 ; Clear the entire RP240 display
DPCUR2,0 ; Place RP240 cursor on line 2, column 0 (bottom left corner)
DWRITE" ACCEL VEL DIST" ; Send message to RP240 display starting at location 2,0
VAR2=DREADF ; VAR2 will capture function key entries (0 - 6)
L ; Begin loop
IF(VAR2<>0) ; If a new function key is pressed, do the following code:
DCLEAR1 ; Clear line one of the RP240 display (top line)
IF(VAR2=1) ; If function key 1 is pressed, do the IF statement
; (input acceleration)
DWRITE"ENTER ACCEL VALUE> " ; Send message to RP240 display starting at location 1,0
VAR3=DREAD ; Set VAR3 equal to the numeric data entered on the RP240's keypad
IF(VAR2=2) ; If function key 2 is pressed, do the IF statement (input velocity)
DWRITE"ENTER VEL VALUE> " ; Send message to RP240 display starting at location 1,0
IF(VAR2=3) ; If function key 3 is pressed, do the IF statement (input distance)
DWRITE"ENTER DIST VALUE> " ; Send message to RP240 display starting at location 1,0
VAR2=0 ; Prohibit repeated execution of this code
VAR2=DREADF ; Re-enable VAR2 to capture new function key entry
A(VAR3) ; Set acceleration equal to the numeric value of VAR3
V(VAR4) ; Set velocity equal to the numeric value of VAR4
D(VAR5) ; Set distance equal to the numeric value of VAR5
GO1 ; Initiate the move
LN ; End loop
; As the loop is running, the user may select among the three variables he wants
; to enter data into. These three variables correspond with acceleration,
; velocity, and distance. Each time the function key variable changes from 0
; (to 1, 2 or 3), then a new message is displayed and the VARi=DREAD command
; will put the current value of that variable in location 1,30 (upper right hand
; corner of the display). For example, the user can choose VEL (F2) and then
; repeatedly change VAR4 by entering a value on the RP240 numeric keypad and
; pressing the ENTER key. Each time through the loop, the VAR4 data is loaded
; into the V command.

DRES Drive Resolution
Syntax <a_><!>DRES GT6K 6.0
Units i = counts/rev
GV6K 6.0
Range 200-128000
Default 25000
Response DRES: *DRES25000
See Also DMEPIT, DMODE, DRIVE, ERES, SCALE, TSTAT
Use the DRES command to set the Gem6K’s resolution appropriately for your application. This resolution
determines how many distinct positions the drive will command the motor to travel within one revolution.
Example:
DRES25000 ; Set drive resolution to 25000 counts/rev
command.
DRESET Drive Reset

Syntax <a_><!>DRESET GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response DRESET: (no response; parameters listed below are reset)
See Also RESET, RFS, TASX
The DRESET command performs a limited “software” reset of the parameters listed below. Unlike the
RESET command, which affects the drive the same as cycling power or activating the hardware Reset input,
the DRESET command affects only the parameters below.
Resolution Commands Motor Configuration Parameters

DRES DMEPIT
ERES DMTD
ORES DMTIC
DMTICD
Status Registers (certain bits cleared DMTIND
by DRESET) DMTJ
DMTKE
ASX TASX TASXF
DMTLMN
DMTLMX
DMTR
DMTRES
DMTRWC
DMTSTT
DMTTCM
DMTTCW
DMTW
DPOLE
DPWM
SFB
SHALL
NOTE: The DRESET command does not disconnect an Ethernet connection.

The DRESET command does not clear the ERRORP assignment or run the STARTP program.

DRIVE Drive Enable
Syntax <a_><!>DRIVE GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (disable), 1 (enable)
Default 0 (disable)
Response DRIVE *DRIVE1
See Also [ AS ], [ ASX ], ESK, FLTDSB, KDRIVE, TAS, TASX, TER
Use the DRIVE command to enable or disable (shut down) the drive. By default, the drive is disabled
(DRIVE0) upon power up. The enable input (pin 1 on the 50 pin DRIVE I/O connector) must be connected
to ground before a DRIVE1 will enable the drive.
If the Disable Drive on Kill (KDRIVE) mode is enabled, the drive will be disabled in the event of a kill
command or kill input.
NOTE: The DRIVE0 command will not de-energize a motor drive during motion.
DRIVE1 sets the commanded position (TPC) equal to the actual position (TPE).
The conditions below automatically disable the drive (DRIVE0), activate any outputs you have configured as
“fault” outputs, and open the dry contact relay (“RELAY N.O.”):
• Certain axis “fault” conditions – refer to the status bits denoted with an asterisk (*) in the TAS and
TASX descriptions.
• If operating in the FLTDSB1 mode and the drive received a DRIVE0 command or the hardware
enable input interlock was opened.
Example:
DRIVE1 ; Enable the drive
DRPCHK RP240 Check

Type Communication Interface; Display (RP240) Interface Product Rev
Syntax <a_><!>DRPCHK GT6K 6.0
Units n/a
GV6K 6.0
Range 0-3
Default 0 for port COM1 and COM2 (PORT command setting determines
which COM port's DRPCHK setting is checked)
Response DRPCHK *DRPCHK0
See Also LOCK, PORT, XONOFF
The DRPCHK command is used to indicate whether a port is to be used with an RP240 or for Gem6K
language commands. The DRPCHK command affects the COM port selected with the last PORT command.
The DRPCHK command value is automatically saved in battery-backed RAM.
NOTE: COM1 is the connector labeled “RS-232/485” and COM2 is the connector labeled “RS-232.”
DRPCHKØ ......... The serial port will be used for Gem6K language commands. This is the default setting for
COM1 and COM2. Power-up messages appear on all ports set to DRPCHKØ.
DRPCHK1 ......... A check for the presence of an RP240 will be performed at power-up/reset. If an RP240 is
present and energized, the Gem6K will initialize the RP240. If an RP240 is not present, the
port may be used for Gem6K language commands. Note that RP240 commands will be sent
at power-up and reset.
DRPCHK2 ......... A status check for the presence of an RP240 will be periodically performed (every 5-6
seconds). If an RP240 is plugged in and energized, the Gem6K will initialize the RP240.

Press F6 on the RP240 periodically until the Gem6K recognizes the RP240. (The RP240
indicates that it has been recognized by beeping when F6 is pressed.)
DRPCHK3 ......... A status check for the presence of an RP240 will be performed at power-up/reset. If an
RP240 is present, the Gem6K will initialize the RP240. If an RP240 is not present, no
commands except DWRITE will have any effect for that port and the COM port will ignore
received characters.
Each port has its own DRPCHK value, but only one may be set to DRPCHK2 or DRPCHK3 at any time.
Default values are used until DRPCHK is set for the first time. DRPCHK values are automatically saved in
non-volatile memory. They do not change until you set new values or issue an RFS command. It may be
advisable to include the DRPCHK command in your start-up program to ensure that it powers up in the
correct setting for your current application.
DSTALL Drive Stall Detect Sensitivity

Syntax <a_><!>DSTALL GT6K 6.0
Units i = sensitivity level selection
GV6K n/a
Range 0-50 (0 disables the stall detect function)
Response DSTALL: *DSTALL20 stepper axes)
See Also ERROR, ESK, ESTALL, KDRIVE, TAS, TASX, TER
The DSTALL command sets the sensitivity of the Drive Stall Detection function. An encoder is not required
for this function. (An encoder is required for Encoder Stall Detection; refer to the ESTALL command.)
A setting of 0 disables the drive stall detect function. Stall “sensitivity” is an empirical metric; therefore, you
must iteratively try different settings to identify the sensitivity setting that works best for your application.
When a Drive Stall is detected, the GT6K responds as follows:
• The stall is reported with Extended Axis Status bit #17 (reported with TASX, TASXF, and ASX).
• If error-checking bit #1 is enabled (ERROR.1-1):
- The stall is reported with Error Status bit #1 (reported with TER, TERF, and ER).
- The GT6K branches to the assigned ERRORP program.
• If the Kill-on-Stall feature is enabled (ESK1), the GT6K immediately stops pulses from being
sent to the motor. If Disable Drive on Kill is enabled (KDRIVE1) it disables the drive.
Example:
DSTALL20 ; Enable drive stall detect, with sensitivity of 20
ESK1 ; Enable kill on stall
V1 ; Set the velocity to 1 unit/sec
; The motor will move 100000 commanded counts (4 revs)
; (If, at any time during the move the drive detects a stall,
; a stall condition will be flagged, and motion will stop.)
END ; End definition of proga

DSTP Enable/Disable RP240 Stop Key
Syntax <a_><!>DSTP GT6K 6.0
GV6K 6.0
Range b = 1 (enable) or 0 (disable)
Default 1 (enable)
Response DSTP *DSTP1
See Also DLED, [ DREAD ], [ DREADF ]
Use the DSTP command to enable or disable the stop key on the RP240 panel.
DVAR Display Variable on RP240

Syntax <a_><!>DVARi,,, GT6K 6.0
Units See below
GV6K 6.0
Range n/a
Default See below
Response n/a
See Also [ DREAD ], [ DREADF ], DVARB, DVARI, DWRITE, VAR
Use the DVAR command to display a numeric variable on the RP240's LCD at the current cursor location:
1st i = Variable number [Range 1-225]
2nd i = Number of whole digits displayed (left of decimal point) [Range 0-9]
3rd i = Number of fractional digits displayed (right of decimal point) [Range 0-8]
4th i = Sign bit: 0 = no sign displayed, 1 = display + or -
Example:
VAR2=542.14 ; Assign the value 542.14 to variable #2
DVAR2,6,3,1 ; Display variable #2 as +000542.140
DVAR2,3,1,0 ; Display variable #2 as 542.1
DVAR2,3,,1 ; Display variable #2 as +542
DVARB Display Binary Variable on RP240

Syntax <a_><!>DVARBi, GT6K 6.0
Units See below
GV6K 6.0
Range n/a
Default See below
Response n/a
See Also DVAR, DVARI, DWRITE, VARB
Use the DVARB command to display a binary variable on the RP240’s LCD at the current cursor location:
2nd i = Number of bits displayed [Range 1-32]
Example
VARB2=b11001X11 ; Assign the value 11001X11 to binary variable #2
DVARB2,6 ; Display binary variable #2 as 1100_1X
DVARB2,3 ; Display binary variable #2 as 110
DVARB2,1 ; Display binary variable #2 as 1

DVARI Display Integer Variable on RP240
Syntax <a_><!>DVARIi,, GT6K 6.0
Units See below
GV6K 6.0
Range n/a
Default See below
Response n/a
See Also DVAR, DVARB, DWRITE, VARI
Use the DVARI command to display an integer variable on the RP240’s LCD at the current cursor location:
2nd i = Number of whole digits displayed [Range 0-9]
3rd i = Sign bit: 0=no sign displayed, 1=display + or - sign
Example
VARI2=542 ; Assign the value 542 to integer variable #2
DVARI2,6,1 ; Display integer variable #2 as +000542
DVARI2,3,1 ; Display integer variable #2 as =+542
DWAVEF Waveform
Syntax <a_><!>DWAVEF<r> GT6K 6.0
Units r = percent 3rd harmonic
GV6K n/a
Range -20.00 to 10.00 : ±0.01
Default -4.00 (-4% 3rd harmonic injection) (applicable only to
Response DWAVEF *DWAVEF-4 stepper axes)
See Also DPHBAL, DPHOFA, DPHOFB
The DWAVEF command sets the percentage of 3rd harmonic included in the commanded motor current
waveform. A procedure for configuring the waveform is provided in the Hardware Installation Guide; refer
to the section entitled Motor Control Settings.
DWRITE Write Text on RP240

Syntax <a_><!>DWRITE"message" GT6K 6.0
Units n/a
GV6K 6.0
Range Message can be ≤ 80 characters (may not use characters ", \, * or :)
Default See below
Response n/a
See Also DCLEAR, DLED, DPASS, DPCUR, DVAR, DVARB, DVARI, PORT
The DWRITE command displays a message on the RP240's LCD starting at the current cursor location. A
message is a character string of up to 80 characters in length. The characters within the string may be any
characters except quote ("), backslash (\), asterisk (*),colon (:), and tilde (~). Strings that have lower-case
letters will be converted to upper case prior to display (see example).
The following graphic shows the location of the RP240's two-line, 40-character display. It also shows the
characters in relation to the function keys.

0 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39
0 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39
F1 F2 F3 F4 F5 F6
HINT: If you do not have an RP240 and wish to send (only) characters out the serial port to another serial
device, you may use this command. Place a backslash (\) before non-alphanumeric characters.
Example: DWRITE"HOMING SUCCESSFUL\13" = send message plus <CR>
Example:
DCLEAR0 ; Clear RP240 display
DPCUR1,12 ; Move cursor to line 1, column 12
DWRITE"Enter Number of Parts" ; RP240 will display: ENTER NUMBER OF PARTS
VAR1=DREAD ; RP240 waiting for data entry
E Enable Communication
Syntax <a_><!>E GT6K 6.0
GV6K 6.0
Range b = 0 (serial communication off) or 1 (serial communication on)
Default b = 1
Response 0_E: *E1
See Also ADDR, BAUD, DRPCHK, ECHO, LOCK, PORT, XONOFF
The E command allows you to enable and disable serial ports on the Gem6K drive. To enable all units in
the RS-232 daisy-chain or RS-485 multi-drop at one time, you can use the E1 command. The PORT
command determines which COM port is affected by the E command.
Example:
PORT1 ; Next command affects the COM1 serial port on the Gem6K
0_E1 ; Enable serial port for unit with device address 0
ECHO Communication Echo Enable

Syntax <a_><!>ECHO GT6K 6.0
GV6K 6.0
Range b = 0 (disable), 1 (enable), 2 (echo through other COM port),
3 (echo through both COM ports), or X (don't change)
Default 1
Response ECHO: *ECHO0
See Also ], [, BAUD, EOL, EOT, ERRLVL, PORT, [ SS ], TSS
The Communication Echo Enable (ECHO) command enables command echo. Lower-case letters are
converted to upper case and then echoed. When echo is enabled, commands are echoed character by
character.

In a terminal emulator mode, you may not see the echoed characters on your display when issuing
commands that have a response, because the echoed characters may be overwritten by the response.
The PORT command determines which COM port is affected by the ECHO command.
The purpose of the ECHO2 and ECHO3 options is to accommodate an RS-485 multi-drop configuration in
which a host computer communicates to the “master” Gem6K drive over RS-232 (COM2 port) and the
master Gem6K drive communicates over RS-485 (COM1 port) to the rest of the units on the multi-drop.
For this configuration, the echo setup should be configured by sending to the master the following
commands executed in the order shown. In this example, it is assumed that the master's device address is
set to 1. Hence, each command is prefixed with “1_” to address only the master unit.
1_PORT1 ....... Subsequent command affects COM1, the RS-485 port
1_ECHO2 ....... Echo characters back through the other port, COM2
1_PORT2 ....... Subsequent command affects COM2, the RS-232 port
1_ECHO3 ....... Echo characters back through both ports, COM1 and COM2
ELSE Else Condition of IF Statement

Syntax <a_><!>ELSE GT6K 6.0
Units n/a GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also IF, NIF
ELSE is used in conjunction with the IF and NIF commands to provide conditional branching. If the
expression contained within the parentheses of the IF command evaluates true, then the commands
between the IF and the ELSE are executed, and the commands after the ELSE until the NIF are ignored. If
the expression evaluates false, the commands between the ELSE and the NIF are executed and the
commands between IF and ELSE are ignored. The ELSE command is optional and does not have to be
included in the IF statement. IF( )...ELSE...NIF commands can be nested up to 16 levels deep.
Programming order: IF(expression) ...commands... ELSE ...commands... NIF
Example:
IF(IN.1=b1) ; Specify condition: if onboard input #1 is on
T5 ; If condition evaluates true, wait 5 seconds
ELSE ; Else part of IF condition
TPE ; If condition does not evaluate true transfer encoder position
ENCCNT Encoder Count Reference Enable

Type Encoder; Drive Configuration Product Rev
Syntax <a_><!>ENCCNT GT6K 6.0
GV6K n/a
Range 0 (reference the commanded position),
1 (reference the encoder position) or X (don't change) (applicable only to
Default 0 (reference the commanded position) stepper axes)
Response ENCCNT *ENCCNT0
See Also ESTALL, INFNC, LIMFNC, OUTP, [ PCC ], [ PCE ], [ PCME ],
[ PE ], TPCC, TPCE, TPCME, TPE, TVELA, [ VELA ]
Use ENCCNT to configure a GT6K to reference either the encoder position or the commanded position when
capturing the position (see INFNCi-H) and checking the encoder position (PE and TPE). When checking the
actual velocity (VELA and TVELA), ENCCNT determines whether the velocity, in units of revs/sec, is derived

with the encoder resolution (ERES) or the drive resolution (DRES). The default setting (ENCCNT0)
references the commanded position.
NOTES: • ENCCNT must be enabled (ENCCNT1) before encoder stall detect (ESTALL) can be used.
• When operating in ENCCNT1 mode, the encoder position (PCE, PE, TPCE, TPE) is always
measured in encoder counts and is not scaled, regardless of SCALE and SCLD.
Example:
INFNC1-H ; Configure trigger A as a position capture input
ENCCNT1 ; Capture encoder position when trigger A is activated,
END End Program or Subroutine Definition

Syntax <a_><!>END GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also $, DEF, DEL, ERASE, GOBUF, GOSUB, GOTO, RUN, PRUN
The END command marks the ending point of a program or subroutine definition. All commands between
the DEF and the END statement will be considered in a program or subroutine.
Example:
DEL pick ; Delete program named pick
pick ; Execute program named pick
EOL End of Line Terminating Characters

Syntax <!>EOL,, GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 – 256
Default 13,10,0
Response EOL: *EOL13,10,0
See Also ], [, BOT, EOT, ERRLVL, PORT, WRITE, XONOFF
The EOL command designates the characters to be placed at the end of each line, but not the last line, in a
multi-line response. The last line of a multi-line response has the EOT characters. Up to 3 characters can be
placed at the end of each line. The characters are designated with their ASCII equivalent (no character that
has a value of zero [Ø] will be output). For example, a carriage return is ASCII 13, a line feed is ASCII 10,
and no terminating character is designated with a zero.
The PORT command determines which COM port is affected by the EOL command.
NOTE: Although you may issue a single command, like TERRLG, each line of the response will have the
EOL characters. The last line in the response will have the EOT characters. If the response is only
one line long, the EOT characters will be placed after the response, not the EOL characters.
Character ASCII Equivalent
Line Feed 10
Carriage Return 13
Example:
EOL13,0,0 ; Place a carriage return after each line of a response

EOT End of Transmission Characters
Syntax <!>EOT,, GT6K 6.0
Units n/a GV6K 6.0
Range i = 0 – 256
Default 13,0,0
Response EOT: *EOT13,0,0
See Also ], [, BOT, EOL, ERRLVL, PORT, WRITE
The EOT command designates the characters to be placed at the end of every response. Up to 3 characters
can be placed after the last line of a multi-line response, or after all single-line responses. The characters
are designated with their ASCII equivalent (no character that has a value of zero [Ø] will be output). For
example, a carriage return is ASCII 13, a line feed is ASCII 10, and no terminating character is designated
with a zero.
The PORT command determines which COM port is affected by the EOT command.
NOTE: Although you may issue a single command, like TERRLG, each line of the response will have the
EOL characters. The last line in the response will have the EOT characters. If the response is only
one line long, the EOT characters will be placed after the response, not the EOL characters.
Character ASCII Equivalent
Line Feed 10
Carriage Return 13
Example:
EOT13,10,0 ; Place a carriage return and a line feed after the last line
; of a multi-line response, and after all single line responses
[ ER ] Error Status
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ ASX ], DSTALL, ERROR, ERRORP, ESTALL, GOWHEN, INFNC, K, LH,
LIMFNC, LS, S, SMPER, STRGTT, TASX, TER, TERF
The ER command is used to assign the error status bits to a binary variable, or to make a comparison against a binary or
hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be placed in front of the value.
The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make a comparison against a hexadecimal
value, the letter h (h or H) must be placed in front of the value. The hexadecimal value itself must only contain the letters A
through F, or the numbers Ø through 9.
Syntax: VARBn=<i%>ER where n is the binary variable number, or ER can be used in an expression such as
IF(ER=b11Ø1), or IF(ER=h7F).
The bit select operator (.), in conjunction with the bit number, can be used to specify a specific error bit.
Examples: VARB1=ER.2 assigns error bit 2 to binary variable 1; IF(ER.2=b1) is a conditional
statement that is true if error bit 2 is set to 1.
The specific error-checking bits must be enabled by the Error-Checking Enable (ERROR) command before
the ER command will provide an error response — see programming example below.

MULTI-TASKING
If you are operating multiple tasks, be aware that you must enable error conditions (ERROR) and
specify an error program (ERRORP) for each task (e.g., 2%ERROR.2-1 and 2%ERRORP FIX for
Task 2). Each task has its own error status register (reported with ER, TER, and TERF).
The function of each error status bit is shown below.

Bit # Function (1 = Yes; Ø = No)
1* Stall Detected: Functions when stall detection has been enabled (ESTALL or DSTALL), and ESK1 is set.
2 Hard Limit Hit: Functions when hard limits are enabled (LH).
3 Soft Limit Hit: Functions when soft limits are enabled (LS).
4 Drive Fault: Detected only if the drive is enabled (DRIVE1).
5 RESERVED (see note at end of table; refer to ERROR command)

6 Kill Input: When an input is defined as a Kill input (INFNCi-C), and that input becomes active.
7 User Fault Input: When an input is defined as a User Fault input (INFNCi-F), and that input becomes active.
8 Stop Input: When an input is defined as a Stop input (INFNCi-D), and that input becomes active.
9 Enable input is activated (not grounded).

10 Pre-emptive (on-the-fly) GO or registration move profile not possible.
11 ** Target Zone Settling Timeout Period (set with the STRGTT command) is exceeded.
12 ** Maximum Position Error (set with the SMPER command) is exceeded.
13 RESERVED
14 Position relationship in GOWHEN already true when GO, FSHFC, or FSHFD was executed.
15 RESERVED
16 Bad command detected (bit is cleared with TCMDER command).
17 RESERVED
18 Cable to an expansion I/O brick is disconnected, or power to the I/O brick is lost; error is cleared by reconnecting
the I/O brick and issuing the ERROR.18-0 command and then the ERROR.18-1 command.
(Multi-tasking: This condition also kills all tasks.)
19 RESERVED
20 RESERVED
21 RESERVED
22 RESERVED
23 Ethernet Client connection error.
24 Ethernet Client polling error.
25-32 RESERVED
* Stepper axes only
** Servo axes only
NOTE: When error bit 5 (Commanded Kill or Stop) of the ERROR command is enabled (ERROR.5-1), a Stop (!S) or
a Kill (!K or <ctrl>K) command will cause the drive to GOSUB or GOTO to the error program (ERRORP). Within
the error program the cause of the error will need to be determined. The ER or TER command can be used to determine
the cause of the error. If none of the error status bits are set, the cause of the error is a commanded kill or a commanded
stop. The reason for not setting a bit on this error condition is that there is no way to clear the error condition upon
leaving the error program.
Example:
ERROR111101101 ; Enable error-checking bits 1-4, 6, 7, and 9
VARB1=ER ; Error status assigned to binary variable 1
VARB2=ER.4 ; Error status bit 4 assigned to binary variable 2
; *VARB2=XXX1_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
IF(ER=b1110X11X1) ; If the error status contains 1's for bit locations 1, 2, 3,
; 6, 7, and 9, and a 0 for bit location 4, do the IF statement
IF(ER=hF600) ; If the error status contains 1's for bit locations 1, 2, 3,
; 4, 6, and 7, and 0's for every other bit location, do the
; IF statement

ERASE Erase All Programs
Type Subroutine or Program Definition Product Rev
Syntax <a_><!>ERASE GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ DATP ], DEF, DEL, RESET, RFS
The ERASE command deletes all programs created with the DEF command, including all data programs
(DATP). If you do not want to erase all the programs, you can use the DEL command to selectively delete
programs. See the RESET command to determine which values are reset to factory defaults.
ERES Encoder Resolution

Type Encoder Configuration Product Rev
Syntax <a_><!>ERES>:(does not take effect until RESET, DRESET or GT6K 6.0
cycle power)
Units Rotary motor: i = counts/rev GV6K 6.0
Linear motor: i = counts/electrical pitch
Range 0 – 65535 (stepper axes); 200 - 1073741823 (servo axes)
Default 4000
(If SFB4, the default is 4096 counts/rev.)
Response ERES: *ERES4000
See Also DMEPIT, DMTR, DRES, ESTALL, ORES, SFB, SMPER, TPE, TPER, TSTAT
Use the ERES command to establish the encoder or resolver resolution (post quadrature) in counts/rev or
counts/electrical pitch. (To set a linear motor’s electrical pitch, refer to the DMEPIT command).
Stepper Axes: The ERES command establishes the number of encoder counts received for a move equal to
the distance set in the drive resolution (DRES) command. If the motor/drive resolution equals
25000 steps/rev, and a 1 revolution move is performed (with scaling (SCALE) disabled), the
number of encoder counts received back would be the encoder resolution value (ERES). A
standard 1000-line per revolution encoder gives 4000 counts post-quadrature. If the encoder is
coupled to the back of a motor, the ERES value will be 4000. This value, along with the drive
resolution value (DRES) are important for the motion algorithm to correctly interpret move
distances, move velocities, and move accelerations.
Servo Axes: The servo system's resolution is determined by the resolution of the encoder used with the
servo motor. The ERES command establishes the number of counts (post quadrature), per unit of
travel. For example, Compumotor’s SM and NeoMetric Series motors with the “E” encoder option
use 1,000-line encoders, and therefore have a 4,000 count/rev post-quadrature resolution (requires
ERES4ØØØ). If the encoder is mounted directly to the motor, then to ensure that the motor will
move according to the programmed distance and velocity, the GV6K’s resolution (ERES value)
must match the encoder's resolution.
command.
AUTO-SETUP for GV6K Drives only: This command is automatically set according to the Parker motor
selected with the configuration utility in Motion Planner (see page 6). If you did not use the configuration utility
or are not using a Parker Motor, this command is set to zero and you will have to manually set this parameter
(if SFB1) or this command is set to 4096 counts/rev (if SFB4). Refer to DMTR for a list of auto-configured
commands.

Resolutions for Compumotor Encoders:
Stepper axes:
• -RE, -RC, -EC, and -E Series Encoders ....ERES4000
• -HJ Series Encoders ..................................ERES2048
Servo axes:
• BE Series Servo Motors ............................BExxxxJ-xxxx: ERES8000
• SM, N or J Series Servo Motors................SM/N/JxxxxD-xxxx: ERES2000
SM/N/JxxxxE-xxxx: ERES4000
• G Series Servo Motors ..............................GxxxxK-xxxx: ERES8192
• Resolution for Parker-supplied resolvers ..SFB4: ERES4096 (BE, SM, N, J and G Series motors)
Daedal Positioning Tables (encoder options):
• -E2.............................................................ERES42000
• -E3.............................................................ERES84000
• -E4.............................................................ERES420000
• -E5.............................................................ERES8400
• For linear servo motors, use the following equation to determine the proper ERES, based on both the
encoder resolution and the motor’s electrical (or magnetic) pitch (DMEPIT).
DMEPIT ( mm)
ERES =
Encoder _ resolution ( mm
count )
Example: Linear encoder resolution (post quad) is 1 µm and the electrical

pitch is 42mm (DMEPIT42). ERES is calculated as:
42 ( mm )
ERES = = 42000
1 ⋅ 10-3 ( mm
count )
Dynaserv (stepper or servo):
• DR10xxB ..................................................ERES507904
• DR1xxxE...................................................ERES614400
• DR1xxxA ..................................................ERES819200
• DR5xxxB ..................................................ERES278528
• DR5xxxA ..................................................ERES425894
• DM10xxB .................................................ERES655360
• DM1xxxA .................................................ERES1024000
• DM1004x ..................................................ERES655360
Example (for stepper axis):

DRES25000 ; Motor/drive resolution set to 25000 steps/rev
; (DRES is used for stepper axes only)
ERES4000 ; Encoder resolution set to 4000 post-quadrature counts/rev
; (encoder is for stall detection only)
ESTALL1 ; Enable encoder stall detection
MA0 ; Incremental mode
MC0 ; Preset mode
; Axis will move 100,000 commanded counts (4 revs)

ERRBAD Error Prompt
Syntax <!>ERRBAD,,, GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 – 256
Default 13,10,63,32
Response ERRBAD: *ERRBAD13,10,63,32
See Also BOT, EOT, ERRDEF, ERRLVL, ERROK, PORT, TCMDER
The ERRBAD command designates the characters to be placed into the output buffer after an erroneous
command has been entered. Up to 4 characters can be placed in the output buffer. These characters serve as a
prompt for the next command. The characters are designated with their ASCII equivalent. For example, a
carriage return is ASCII 13, a line feed is ASCII 10, a question mark is ASCII 63, a space is ASCII 32, and
no terminating character is designated with a zero. For a more complete list of ASCII equivalents, refer to the
ASCII Table in Appendix B.
The PORT command determines which COM port is affected by the ERRBAD command.
Example:
ERRBAD13,0,0,0 ; Place a carriage return only in the output buffer after
; processing an erroneous command
ERRDEF Program Definition Prompt

Syntax <!>ERRDEF,,, GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 - 256
Default 13,10,45,32
Response ERRDEF: *ERRDEF13,10,45,32
See Also BOT, END, EOT, ERRBAD, ERRLVL, ERROK, PORT, XONOFF
The ERRDEF command designates the characters to be placed into the output buffer after a DEF has been
entered. Up to 4 characters can be placed in the output buffer. These characters will continue to be placed into
the output buffer after each command, until the END command is processed. The characters are designated
with their ASCII equivalent. For example, a carriage return is ASCII 13, a line feed is ASCII 10, a hyphen is
ASCII 45, a space is ASCII 32, and no terminating character is designated with a zero. For a more complete
list of ASCII equivalents, refer to the ASCII Table in Appendix B.
The PORT command determines which COM port is affected by the ERRDEF command.
Example:
ERRDEF13,0,0,0 ; Place a carriage return only in the output buffer after each
; command in the program definition

ERRLVL Error Detection Level
Syntax <a_><!>ERRLVL GT6K 6.0
Units i - error level settings
GV6K 6.0
Range i = 0, 1, 2, 3, or 4
Default 4 if COM port is set up for RS-232C;
0 if COM port is set up for RS-485
Response ERRLVL: *ERRLVL4
See Also BOT, EOL, EOT, ERRBAD, ERRDEF, ERROK, PORT
The ERRLVL command has options which allow you to include or exclude certain elements of the response
from the Gem6K (see table below). The PORT command determines which COM port is affected by the
ERRLVL command.
Overview:
! When you enter or send a command:
Under factory default conditions (error detection level 4, selected with the ERRLVL4 command), after
you type a command and press the ENTER key, or send a command via the COM6SRVR
communications server, the Gem6K responds as follows:
• If an error is not detected, the ERROK characters are transmitted. The default ERROK
transmission characters are (in order of transmission): carriage return, line feed, “>” prompt,
and space.
• If an error is detected, the following is transmitted (in this order):
1. BOT (beginning of transmission) characters. The default BOT transmission is no
characters.
2. Carriage return
3. Line feed
4. Asterisk (*)
5. Error message (if there is one corresponding to the error) — see list on page 11.
6. EOT (end of transmission) characters. The default EOT transmission is a carriage return.
7. ERRBAD characters. The default ERRBAD transmission characters are (in order of
transmission): carriage return, line feed, “?” prompt, and space.
! Soliciting information and checking responses:

In each command description, there is a “Response” field that identifies the potential response(s)
given when the command is executed. For example, parameter-based commands may be executed
without parameters to report the current configuration; transfer commands may be executed to report
certain status conditions. Under factory default conditions (ERRLVL4), and if no error is detected, the
response characters are transmitted in the following order:
1. BOT (beginning of transmission) characters. The default BOT transmission is no
characters.
2. Asterisk (*) immediately preceding the response text.
3. Response text.
4. EOT (end of transmission) characters. The default EOT transmission is a carriage return.
If the response comprises more than one line (e.g., TASF has a multi-line response), the EOL
(end of line) characters are placed at the end of each line, except for the last line—EOT
characters are always placed at the end of the last line. The default EOL characters are
carriage return and line feed.
5. ERROK characters. Default characters are: carriage return, line feed, “>” prompt, and space.

Customizing the Gem6K response:
Using the factory default error level, ERRLVL4, the Gem6K uses all available response characters. The
ERRLVL command has additional options which allow you to include or exclude certain elements of the
response (refer also to the table below):
• BOT, EOL, and EOT characters (these characters are always transmitted when no error is detected).
• An asterisk (*), transmitted at the beginning of each line of the Gem6K’s response (e.g.,
*ERRLVL4).
• The query or status command that was entered (echoed back as a confirmation). For example, to
check the error level setting, type in the ERRLVL command with no parameters; the Gem6K
responds with *ERRLVL4 if it is set to error level 4.
• ERROK character(s) transmitted when no error is detected, and whenever you press the ENTER key.
• ERRBAD character(s) transmitted when an error is detected. Default is the “?” character.
• Error message (see page 11).
Characters when no error is detected Characters when an error is detected

BOT EOT EOL * Command ERROK BOT EOT EOL ERRBAD Error Msg.
ERRLVL4 " " " " " " " " " " "
ERRLVL3 " " " " " " "
ERRLVL2 " " " " "
ERRLVL1 " " " "
ERRLVL0 * " " "
Example:
The examples below show the Gem6K’s response to the TAS status command under all five ERRLVL
settings. The factory default BOT, EOT, EOL, and ERROK characters (noted above) are used. The printed
characters are shown in bold text, and the non-printing characters are represented as follows:
• Carriage return ...... <cr>
• Line feed ............... <lf>
• Space ..................... <sp>
! ERRLVL4 and ERRLVL3 (no difference between these two settings):

*TAS0000_0000_0000_1000_0000_0001_0000_0000<cr><lf>
* 0000_0000_0000_1000_0000_0001_0000_0000<cr>
<cr><lf>
> <sp>
! ERRLVL2:
*TAS0000_0000_0000_1000_0000_0001_0000_0000<cr><lf>
* 0000_0000_0000_1000_0000_0001_0000_0000<cr>
! ERRLVL1:
*0000_0000_0000_1000_0000_0001_0000_0000<cr><lf>
*0000_0000_0000_1000_0000_0001_0000_0000<cr>
! ERRLVL0:
0000_0000_0000_1000_0000_0001_0000_0000<cr><lf>
0000_0000_0000_1000_0000_0001_0000_0000<cr>

ERROK Good Prompt
Syntax <a_><!>ERROK,,, GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 - 256
Default 13,10,62,32
Response ERROK: *ERROK13,10,62,32
See Also ERRBAD, ERRDEF, ERRLVL, PORT, XONOFF
The ERROK command designates the characters to be placed into the output buffer after a command has
been entered correctly. Up to 4 characters can be placed in the output buffer. These characters serve as a
prompt for the next command. The characters are designated with their ASCII equivalent. For example, a
carriage return is ASCII 13, a line feed is ASCII 10, a greater than symbol is ASCII 62, a space is ASCII
32, and no terminating character is designated with a zero. For a more complete list of ASCII equivalents,
refer to the ASCII Table in Appendix B.
The ERROK characters are not transmitted when you send an immediate command (e.g., !TPE) to the
product (or task) while it is executing a program.
The PORT command determines which COM port is affected by the ERROK command.
Example:
ERROK13,0,0,0 ; Place a carriage return only in the output buffer after
; processing a valid command
ERROR Error-Checking Enable

Syntax <a_><!><%>ERROR... (32 bits) GT6K 6.0
Units n/a GV6K 6.0
Range b = 0 (disable), 1 (enable), or X (don't change)
Default 0
Response ERROR: *ERROR0000_0000_0000_0000_0000_0000_0000_0000
bit 1 bit 32
See Also [ ASX ], DSTALL, [ ER ], ERRORL, ERRORP, ESTALL, GOWHEN, INFNC,
K, KIOEN, LH, LS, S, TASX, TER, TRGFN
When an error-checking bit is enabled (ERROR11...11), the operating system will respond to a specific
execution error by doing a GOSUB or a GOTO to the error program assigned with the ERRORP command
(see table below). Each bit corresponds to a different error condition. To enable or disable a specific bit, the
syntax is ERROR.n-b, where “n” is the error bit number and “b” is either 1 to enable or Ø to disable.
MULTI-TASKING

Bit # Function (Error bits 13, 15, 17, 19 – 22, and 25 – 32 are reserved.) Branch Type
1* Stall Detected: Functions when stall detection is enabled with ESTALL (encoder stall GOSUB
detection) or DSTALL (drive stall detection), and Kill on Stall is enabled (ESK1).
2 Hard Limit Hit: When an input is defined as an end-of-travel input (LIMFNCi-R or GOTO if COMEXLØ;
INFNCi-R; LIMFNCi-S or INFNCi-S), and that input becomes active. GOSUB if COMEXL1
Hard limits must be enabled (LH3).
3 Soft Limit Hit: Functions when soft limits are enabled (LS3). GOTO if COMEXLØ;
GOSUB if COMEXL1
4 Drive Fault: Detected only if the drive is enabled (DRIVE1). GOTO
5 Commanded Kill or Commanded Stop (a K, !K, <ctrl>K, S, or !S command is sent). !K = GOTO;
!S = GOTO if COMEXSØ;
NOTE
!S = GOSUB if
If you want the program to stop, you must issue the !HALT command.
COMEXS1, but need !C
6 Kill Input: When an input is defined as a KILL input (INFNCi-C), and that input GOTO
becomes active.
7 User Fault Input: When an input is defined as a user fault input (INFNCi-F), and that GOTO
input becomes active.
8 Stop Input: When an input is defined as a stop input (INFNCi-D), and that input GOTO
becomes active.
9 Enable input is activated (not grounded). See also TINO bit #6. GOTO
10 Pre-emptive (on-the-fly) GO or registration move profile not possible at the time of GOSUB
attempted execution.
11 ** Target Zone Settling Timeout Period (set with the STRGTT command) is exceeded. GOSUB
12 ** Maximum Position Error (set with the SMPER command) is exceeded. GOSUB
14 GOWHEN condition already true when a subsequent GO, FSHFC, or FSHFD command is GOSUB
executed.
16 Bad command detected (bit is cleared with TCMDER command). GOSUB
18 Cable to an expansion I/O brick is disconnected, or power to the I/O brick is lost; GOTO if KIOEN1
error is cleared by reconnecting the I/O brick (or restore power to the I/O brick) and GOSUB if KIOENØ
issuing the ERROR.18-0 command and then the ERROR.18-1 command.
(Multi-tasking: This condition also kills all tasks.)
23 Ethernet Client connection error. GOSUB
24 Ethernet Client polling error. GOSUB
* Stepper axes only; ** Servo axes only
Example: Refer to the Error Program Assignment (ERRORP) command example.
ERRORL Error Log Selection

Syntax <a_><!><%>ERRORL... (32 bits) GT6K 6.0
Units n/a GV6K 6.0
Default 0
Response ERRORL: *ERRORL0000_0000_0000_0000_0000_0000_0000_0000
bit 1 bit
32
See Also [ ASX ],CERRLG, DSTALL, [ ER ], ERROR, ESTALL, GOWHEN, INFNC, K,
KIOEN, LH, LS, S, TASX, TER, TERF, TERRLG, TRGFN
Use the ERRORL command to choose the conditions that will be included in the error log. When an error log
bit is enabled (ERRORL11...11), the operating system will respond to a specific execution error by making
an entry in the error log. Each bit corresponds to a different error condition (see table below). To enable or
disable a specific bit, the syntax is ERRORL.n-b, where “n” is the error bit number and “b” is either 1 to
enable or Ø to disable.
Use the TERRLG command to view the error log. Use the CERRLG command to clear the error log.

NOTE: After an error event occurs and the drive updates the error log, bits may still be recorded in TAS or
TASX for another 120 milliseconds. To find all possible causes of an error event, examine TAS and TASX in
addition to viewing the error log.
Bit # Function
1* Stall Detected: Functions when stall detection is enabled with ESTALL (encoder stall
detection) or DSTALL (drive stall detection), and Kill on Stall is enabled (ESK1).
2 Hard Limit Hit: When an input is defined as an end-of-travel input (LIMFNCi-R or
INFNCi-R; LIMFNCi-S or INFNCi-S), and that input becomes active.
Hard limits must be enabled (LH3).
3 Soft Limit Hit: Functions when soft limits are enabled (LS3).
4 Drive Fault: Detected only if the drive is enabled (DRIVE1).
5 RESERVED
6 RESERVED
7 User Fault Input: When an input is defined as a user fault input (INFNCi-F), and that
input becomes active.
8 RESERVED
9 RESERVED
10 Pre-emptive (on-the-fly) GO or registration move profile not possible at the time of
attempted execution.
11 ** Target Zone Settling Timeout Period (set with the STRGTT command) is exceeded.
12 ** Maximum Position Error (set with the SMPER command) is exceeded.
13 RESERVED
14 GOWHEN condition already true when a subsequent GO, FSHFC, or FSHFD command is
executed.
15-32 RESERVED
* Stepper axes only; ** Servo axes only

NOTE: ERRORL bits 5, 6, 8, 9, 13, 15 – 32 are reserved.
ERRORP Error Program Assignment

Syntax <a_><!><%>ERRORP<t> GT6K 6.0
Units t = text (name of error program)
GV6K 6.0
Default n/a
Response ERRORP: *ERRORPerr1
See Also [ ER ], ERRLVL, ERROR, TER
Using the ERRORP command, you can assign any previously defined program as the error program. For
example, to assign a previously defined program named CRASH as the error program, enter the ERRORP CRASH
command. If you later decide not to have an error program, issue the ERRORP CLR command; after the
ERRORP CLR command, no error program will be called until you assign a new one.
The purpose of the error program is to provide a programmed response to certain error conditions (see table
below) that may occur during the operation of your system. Programmed responses typically include
actions such as shutting down the drive, activating or de-activating outputs, etc. To detect and respond to
the error conditions, the corresponding error-checking bit(s) must be enabled with the ERROR command
(refer to the ERROR Bit # column in the table below). It is the programmer's responsibility to determine the
cause of the error, and take action based on the error. The error condition can be determined using the ER
evaluation in an IF statement (e.g., IF(ER=b1ØX)). An error program set-up example is provided in the
Programmer's Guide.

When an error condition occurs and the associated error-checking bit has been enabled with the ERROR
command, the Gem6K will branch to the error program. Depending on the error condition, the branch may
be either a GOTO or GOSUB. If the error condition calls for a GOSUB, then after the ERRORP program is
executed, program control returns to the point at which the error occurred. If you do not want to return to
the point at which the error occurred, you can use the HALT command to end program execution or you can
use the GOTO command to go to a different program. If the error condition calls for a GOTO, there is no
way to return to the point at which the error occurred.
MULTI-TASKING
The ERRORP assignment is not saved in battery-backed RAM. To ensure that the ERRORP assignment is
retained when you cycle power or issue a RESET command, put the ERRORP command in the startup
program assigned with the STARTP command.
WHEN TO BRANCH
If you wish the branch to the error program to occur at the time the error condition is
detected, use the continuous command execution mode (COMEXC1). Otherwise, the
branch will not occur until motion has stopped.
Canceling the Branch to the Error Program: The error program will be continuously called/repeated
until you cancel the branch to the error program. (This is true for all cases except error condition #9, enable
input activated, in which case the error program is called only once.) There are three ways to cancel the
branch:
• Disable the error-checking bit with the ERROR.n-0 command, where "n" is the number of the error-
checking bit you wish to disable. For example, to disable error checking for the kill input activation (bit
#6), issue the ERROR.6-0 command. To re-enable the error-checking bit, issue the ERROR.n-1 command.
• Delete the program assigned as the ERRORP program (DEL <name of program>).
• Satisfy the How to Remedy the Error requirement identified in the table below.
NOTE
In addition to canceling the branch to the error program, you must also remedy the cause
of the error; otherwise, the error program will be called again when you resume
operation. Refer to the How to Remedy the Error column in the table below for details.
ERROR
Cause of the Error Branch Type to ERRORP How to Remedy the Error
Bit #
1 Stepper axes only: Gosub Issue a GO command.
Stall detected (Stall Detection and
Kill On Stall must be enabled
first—see ESTALL or DSTALL,
respectively—and ESK1 enabled)
2 Hard Limit Hit. An input defined as If COMEXLØ, then Goto; Change direction & issue GO command; or
an end-of-travel input (LIMFNC or If COMEXL1, then Gosub issue LHØ.
INFNC) became active. Hard limits
must be enabled (see LH).
3 Soft Limit Hit (soft limits must If COMEXLØ, then Goto; Change direction & issue GO command; or
be enabled first—see LS) If COMEXL1, then Gosub issue LSØ.
4 Drive Fault (Detected only if drive Goto Check the cause with TASX, remedy the fault
enabled – DRIVE1). condition, then issue a DRIVE1 command.

5 Commanded Stop or Kill If !K, then Goto; No fault condition is present—there is no error
(whenever a K, !K, <ctrl>K, S, If !S & COMEXSØ, to clear
or !S command is sent) then Goto;
— See “Commanded Kill or If you want the program to stop, you must
If !S & COMEXS1, then
Stop” note below. issue the !HALT command.
Gosub, but need !C
6 Kill Input Activated Goto Deactivate the kill input.
(see INFNCi-C)
7 User Fault Input Activated Goto Deactivate the user fault input, or disable it by
(see INFNCi-F) assigning it a different INFNC function.
8 Stop Input Activated Goto Deactivate the stop input, or disable it by

(see INFNCi-D) assigning it a different INFNC function.
9 Enable input not grounded Goto Re-ground the enable input, and issue a
DRIVE1 command.
10 Pre-emptive (on-the-fly) GO or Gosub Issue another GO command.

registration move profile not
possible at the time of attempted
execution.
11 GV6K Only: Gosub Issue these commands in this order:

Target Zone Timeout (STRGTT STRGTEØ, DØ, GO, STRGTE1
value has been exceeded).
12 GV6K Only: Gosub Issue a DRIVE1 command. Verify that

Exceeded Max. Allowable feedback device is working properly.
Position Error (set with the
SMPER command).
14 GOWHEN condition already true Goto Issue another GOWHEN command; or issue a
when GO, FSHFC, or !K command and check the program logic
FSHFD executed. (use the TRACE and STEP features if
necessary).
16 Bad command detected. Gosub Issue the TCMDER command.
18 Expansion I/O brick disconnected, Goto if KIOEN1 Reconnect I/O brick or restore power. Then
or lost power. (Multi-tasking: This Gosub if KIOEN0 issue ERROR.18-0 and then ERROR.18-1.
condition also kills all tasks.)
23 Ethernet Client connection error. Gosub Clear the error bit (ERROR.23-0), then re-
establish the Ethernet connection, and then
issue ERROR.23-1.
24 Ethernet Client polling failed. Gosub Clear the error bit (ERROR.24-0), then re-
establish the Ethernet connection, and then
issue ERROR.24-1.
Reserved Bits: Bits 13, 15, 17, 19-22, and 25-32 are reserved.
Branching Types: If the error condition calls for a GOSUB, then after the ERRORP program is executed,
program control returns to the point at which the error occurred. If you do not want to return to the point at
which the error occurred, you can use the HALT command to end program execution or you can use the
GOTO command to go to a different program. If the error condition calls for a GOTO, there is no way to return
to the point at which the error occurred.
Commanded Kill or Stop: When ERROR bit 5 is enabled (ERROR.5-1), a Stop (S or !S) or a Kill (K, !K or
<ctrl>K) command will cause the Gem6K to branch to the error program. Note, however, that this error
condition does not set an error bit (ER), because there is no way to clear the error condition upon leaving the
error program. Therefore, you should use the IF(ER=b00000000000000000000000000000000)

statement in your error program to determine if the cause of the error was a commanded kill or stop (i.e., if
no error bits are set).
Example:
DEF err1 ; Define error program err1
IF(ER=b01) ; If the error is a hard limit, send a message & stop program execution
WRITE"Hard Limit Hit" ; Write Hard Limit Hit message
HALT ; Terminate program execution
IF(ER=b0X1) ; If error is soft limit, back off soft limit, reset position, & continue
D~ ; Change direction in preparation to back off the soft limit
D1 ; Set distance to 1 step (just far enough to back off the soft limit)
GO1 ; Initiate the 1-step move to back off the soft limit
PSET0 ; Reset the position to zero
END ; End definition of error program err1
ERRORP err1 ; Set error program to err1. Branch to err1 upon hitting a hard or soft limit
ERROR01100000 ; Set error condition bits to look for hard limit or a soft limit
ESDB Stall Backlash Deadband

Syntax <a_><!>ESDB GT6K 6.0
Units i = motor steps
GV6K n/a
Range 0 - 99,999,999
Response ESDB: *ESDB0 stepper axes)
See Also [ AS ], DRES, ERES, ESK, ESTALL, TAS
The ESDB command establishes the number of motor steps that a move will travel after a change in
direction before stall detection is initiated. If there is no change in direction, the stall backlash deadband
value will not be used to determine if there is a stall condition. To use the stall backlash deadband, encoder-
based stall detection (ESTALL) must be enabled.
A stall condition will be recorded by bit 12 of the axis status register. The TAS command can be used to get
the axis status response.
Example: Refer to the enable stall detect (ESTALL) command example.
ESK Kill on Stall

Syntax <a_><!>ESK GT6K 6.0
GV6K n/a
Range b = 0 (disable) or 1 (enable)
Response ESK: *ESK0 stepper axes)
See Also DRES, DRIVE, DSTALL, ERES, ESDB, ESTALL, TAS, TASX, TER
The ESK command enables/disables the Kill-on-Stall feature. With Kill-on-Stall enabled, if the Gem6K
detects an encoder stall (ESTALL) or a drive stall (DSTALL), it will immediately stops pulses from being
sent to the motor. Stall detection must be enabled (with the ESTALL command or the DSTALL command)
before the ESK command will have any affect.
For further details and programming examples on Encoder Stall Detection, refer to ESTALL.
For further details and programming examples on Drive Stall Detection, refer to DSTALL.

ESTALL Encoder-Based Stall Detection
Syntax <a_><!>ESTALL GT6K 6.0
Units n/a
GV6K n/a
Response ESTALL: *ESTALL0 stepper axes)
See Also [ AS ], DRES, DSTALL, ENCCNT, [ ER ], ERES, ESDB, ESK, TAS,
TER
The ESTALL command determines if encoder-based stall conditions will be checked. (For information
about Drive Stall Detection; which does not require an encoder, refer to the DSTALL command.)
NOTE: Encoder count reference must be enabled (ENCCNT1) before encoder stall detect (ESTALL) can be
used.
A stall condition will occur if the actual number of encoder counts received is less than expected for each
motor step output segment. The number of encoder counts expected is determined by dividing the encoder
resolution (ERES) by 100. The motor step output segment is determined by dividing the drive resolution
(DRES) by 50.
For example, given an encoder resolution (ERES) of 4000 and a drive resolution (DRES) of 25000, the
number of encoder counts expected for each motor step output segment = 4000 = 40. The motor step
100
25000
output segment = = 500. Therefore, during a move, after every 500 motor steps are sent out, the
50
drive checks to see if it received 40 encoder counts. If it did, then everything is O.K. If not, then a stall
condition exists.
To accurately detect a stall, the drive resolution (DRES) and the encoder resolution (ERES) must be properly set.
When a stall is detected, the GT6K responds as follows:
• The stall is reported with Axis Status bit #12 (reported with TAS, TASF, and AS).
• The stall is reported with Extended Axis Status bit #17 (reported with TASX, TASXF, and ASX).
• If error-checking bit #1 is enabled (ERROR.1-1):
- The stall is reported with Error Status bit #1 (reported with TER, TERF, and ER).
- The GT6K branches to the assigned ERRORP program.
• If the Kill-on-Stall feature is enabled (ESK1), the GT6K immediately stops pulses from being
sent to the motor. If Disable Drive on Kill is enabled (KDRIVE1) it disables the drive.
Example:
DRES25000 ; Drive resolution set to 25000 steps/rev
ERES4000 ; Encoder resolution is 4000 post-quadrature counts/rev
ESDB10 ; Stall backlash set to 10 commanded counts
ENCCNT1 ; Enable encoder count reference mode
ESTALL1 ; Enable stall detection
ESK1 ; Enable kill on stall
; The motor will move 100000 commanded counts (4 revs)
; (If, at any time during the move the actual encoder count falls
; behind, a stall condition will be flagged, and motion will stop.)

EXE Execute a Program From a Compiled Program
Type PLC Scan Program Product Rev
Syntax i%EXEt GT6K 6.0
Units i = Task Number
GV6K 6.0
t = Program Name (6 characters or less)
Range i = 1-10
Default n/a
Response n/a
See Also INSELP, PCOMP, PEXE, PLCP, SCANP
Use the EXE command to start a standard (non-compiled) program from within a compiled PLCP program. The
EXE command specifies the name of the program, and the task in which it will be launched. The program
named in the EXE command need not be defined at the time the PLCP program is compiled; however, the
program must be defined before the SCANP or PRUN is issued. If no task number is assigned with a % prefix,
then the task in which the PLCP program is compiled (PCOMP) will be the task that runs the program. Note,
however, that the EXE program cannot be executed in the Task Supervisor (task 0).
When a PLCP program performs an EXE command, SS bit 28 (“PROGRAM PENDING”) will be set in the task
specified by EXE command. When background task swapping allows the program to actually start running,
SS.28 will be cleared and SS bit 3 (“PROGRAM EXECUTING”) will be set. If a PLCP program performs an EXE
command with either of these bits set, the new program will not run, and SS bit 32 (“EXE FAILED”) will be set.
SS.32 will be cleared upon the next successful EXE directed to that task. Because the PLCP program ignores the
EXE command if a currently running program is detected within the specified task, the EXE command can only
be used to initiate a new program if the task is not already running a program.
Like the INSELP command, the program launched by the EXE command will not interrupt a currently running
program, nor will it interrupt a WAIT or T command.
CAUTION: Using the SCANP command to run a PLCP program in Scan mode will cause the PLCP program
to execute as often as every system update period (2 ms). An EXE command used within a PLCP program
running in Scan mode could therefore attempt to launch a program in the specified task as often as every
2 ms. This may not allow enough time for the program launched in the specified task by the EXE command
to complete before the same EXE command is issued again. As stated, the PLCP program will ignore the
EXE command if a currently running program is detected, so timing must be considered when launching
programs with the EXE command.
To execute a compiled program from within a compiled PLCP program, use the PEXE command.
Example:
DEF PLCP1 ; Define PLC program PLCP1
IF(IN.1=b1) ; If input 1 is active
3%EXE PROG1 ; Launch program PROG1 in Task 3
ELSE
2%EXE PROG2 ; Otherwise launch program PROG2 in Task 2
NIF
END
PCOMP PLCP1 ; Compile PLCP1
SCANP PLCP1 ; Scan with program PLCP1

[ FB ] Value of Current Feedback Device
Type Servo; Assignment or Comparison Product Rev
Units See below
GV6K 6.0
Range See below
Default n/a
Response n/a
See Also GOWHEN, [ PE ], PSET, SCALE, SCLD, SFB, TFB,
Use the FB operator to assign the value of the selected feedback device to a variable or to make a
comparison. Depending on the configuration of the SFB command, the feedback device could be an
encoder or a resolver.
If you issue a PSET command, the feedback device position value will be offset by the PSET command value.
If scaling is not enabled, the position values returned will be encoder or resolver counts. If scaling is
enabled (SCALE1), the encoder or resolver values will be scaled by the SCLD value. For more information
on scaling, refer to page 16.
Syntax: VARn=FB where n is the variable number, or FB can be used in an expression such as IF(FB<6).
Example:
SFB1 ; Feedback is encoder
VAR6=FB ; Assign position (scalable) of encoder to variable #6
IF(FB<500) ; If position (scalable) of encoder is less than 500,
; do the commands following the IF statement until the NIF command
VAR4=FB+1000 ; Set variable #4 equal to current position of encoder plus 1,000
NIF ; End of IF statement
FFILT Following Filter

Syntax <a_><!>FFILT GT6K 6.0
Units i = filtering level
GV6K 6.0
Range i = 0, 1, 2, 3, or 4
Default 0
Response FFILT *FFILT0
See Also FMAXA, FMAXV, FPPEN
The FFILT command specifies the bandwidth of the low pass filter applied to the measurements of master
position. This command is to be used in these situations:
• Measurement of master position is contaminated by either electrical noise (when analog input is
the master) or mechanical vibration.
• Measurement noise is minimal, but the motion that occurs on the master input is oscillatory. In
this case, using the filter can prevent the oscillatory signal from propagating into the follower
axis (i.e., ensuring smoother motion on the follower axis).
The table below shows how the value of the FFILT command specifies the low pass filter's bandwidth:
FFILT Setting Low pass Filter Bandwidth
0 ∞ (no filtering) – default setting
1 120 Hz
2 80 Hz
3 50 Hz
4 20 Hz
Example:
FFILT1 ; Set filtering bandwidth to 120 Hz

FGADV Following Geared Advance
Syntax <a_><!>FGADV<r> GT6K 6.0
Units r = advance distance (scalable)
GV6K 6.0
Range 0.00000-999,999,999 (scalable with SCLD)
Default n/a
Response n/a
See Also FOLMD, FOLRD, FOLRN, [ FS ], FSHFD, GOWHEN, SCLD, TFS
The FGADV command provides the ability to superimpose an advance or retard on Following motion. This is the same
ability provided by the FSHFD command, except that the superimposed motion is also geared to master motion. The
FGADV command has the positive or negative “advance” distance as a parameter, but it initiates motion instead of
simply setting up the distance. The shape of the superimposed profile is determined by the FOLMD, FOLRN, and
FOLRD commands (just as a normal preset Following move).
The FGADV command profile may be delayed with the GOWHEN command.
A FGADV move may be performed only while the conditions below exist (Following status bit #23, reported with the
FS, TFS, and TFSF commands, indicates that it is “OK to do FGADV move”):
• Master is specified with a FOLMAS command
• Following is enabled with the FOLEN command
• The follower axis is either not moving, or moving at constant ratio in continuous mode (MC1)
A FGADV move may not be performed:

• During a preset (MC0) move
• In a compiled profile or program
Following Status (FS, TFS, and TFSF) bit #24 reports if a “FGADV move is underway”.
Example:
COMEXC1 ; All command processing during motion
FOLRN25 ; Set numerator of follower-to-master Following ratio
FOLRD10 ; Set denominator of follower-to-master Following ratio
FOLMD1000 ; Set master distance to 1000 units
MC1 ; Enable continuous positioning mode
D+ ; Set direction to positive
FOLEN1 ; Enable Following
GO ; Ramp up to a 2.5 to 1 ratio over 1000 master distance units
FOLMD500 ; Set master distance to 500 units
FOLRN13 ; Superimposed ratio will be 1.3 (added to 2.5 = 3.8 total)
WAIT(FS.23=B1) ; Wait for OK to do geared advance
; (in this case, ramp is complete)
FGAVD400 ; Advance the follower axis 400 counts over a distance
; of 500 master counts
WAIT (FS.23=B1) ; Wait for OK to do geared advance
; (in this case, FGADV400 superimposed profile is complete)
FGADV-400 ; Retard the follower axis 400 counts over a distance of
; 500 master counts (2.5 - 1.3 = 1.2 net ratio)
FLTDSB Fault on Drive Disable (DRIVE0)

Syntax <a_><!>FLTDSB GT6K 6.0
Units b = enable bit GV6K 6.0
Default 1
Response FLTDSB: *FLTDSB1
See Also DRIVE, TAS, TASX, TER
Use the FLTDSB command to enable/disable the Fault on Drive Disable mode. If Fault on Drive Disable is
enabled (FLTDSB1 – the default setting), and the drive is disabled via the DRIVE0 command or the
“Enable” input (pin 1 on the DRIVE I/O connector), any output configured as a fault output is activated and
the dry contact relay (labeled “RELAY COM” and “RELAY N.O.” on the 4-pin removable connector) is
opened.

FMAXA Follower Axis Maximum Acceleration
Syntax <a_><!>FMAXA<r> GT6K 6.0
GV6K n/a
Range r = 0.00001 - 39,999,998 (scalable with SCLA)
Default 0.00 (no limit imposed) (applicable only to
Response FMAXA *FMAXA0.0000 stepper axes)
See Also [ FS ], FFILT, FMAXV, FPPEN, SCLA, TFS, TFSF
The FMAXA command sets the maximum acceleration for follower axes. The FMAXA command is scaled by
the SCLA parameter.
As part of a ramp to new ratio, or simply following an accelerating master at constant ratio, a follower may be
required to accelerate. If the required acceleration is larger than FMAXA, the follower will begin falling behind
its commanded position. The Gem6K drive will attempt to make up this position error as soon as the
commanded accel falls below FMAXA. In controlling stepper motors, the Gem6K adds an error correction
velocity to that implied by the commanded ratio.
As with FMAXV, FMAXA should be determined and defined early in the development stage of an application
to prevent any damage to the load on the follower axis when unexpectedly high accelerations are
commanded. The torque available from the follower motor will also be a determining factor in this
parameter in order to prevent motor stalls.
Following status bit #26 (see TAS, TASF, FS) is set while FMAXA or FMAXV is limiting the present Following
profile.
Example:
FMAXA75 ;Set maximum follower acceleration to 75 user units.
FMAXV Follower Axis Maximum Velocity

Syntax <a_><!>FMAXV<r> GT6K 6.0
Units r = units/sec (scalable with SCLV)
GV6K n/a
Range r = 0.000000-1600000.000000
Default 0.00 (no limit imposed) (applicable only to
Response FMAXV *FMAXV0.0000 stepper axes)
See Also [ FS ], FFILT, FMAXA, FPPEN, SCLV, TFS, TFSF
The FMAXV command sets the maximum velocity at which follower axes may travel. The FMAXV command
accepts numeric variables (VAR) as an argument and is scaled by the SCLV parameter.
Normally in a Following application, the follower velocities will be known based on the normal speed of
the master and the commanded Following ratios (FOLRN and FOLRD). In some cases, however, the master
speed may be higher than normal, the follower may be commanded to perform a shift move, or some other
event may occur which will cause the follower to travel at a velocity higher than expected. In these cases,
the Gem6K drive will increase the speed of the follower as necessary to perform the required move, but
only up to the FMAXV value.
If the commanded speed is higher than FMAXV, the follower axis will start falling behind its commanded
position. The Gem6K drive will attempt to make up this position error as soon as the commanded speed falls
below FMAXV. In controlling stepper motors, the Gem6K automatically adds an error correction velocity to
that implied by the commanded ratio.
The FMAXV value should be determined and defined early in the development stage of an application to
prevent any damage to the load on the follower axis when unexpectedly high velocities are commanded.
Following status bit #26 (see TAS, TASF, FS) is set while FMAXA or FMAXV is limiting the present Following
profile.
Example:
FMAXV15 ;Set the follower maximum velocity to 15 user units

FMCLEN Master Cycle Length
Syntax <a_><!>FMCLEN<r> GT6K 6.0
Units r = master distance units (scalable)
GV6K 6.0
Range r = 0-999,999,999 (scalable with SCLMAS)
Default 0
Response FMCLEN *FMCLEN0
See Also FMCNEW, FMCP, FOLEN, [ FS ], GOWHEN, [ PMAS ], SCLMAS, TFS,
TPMAS, WAIT
The FMCLEN command defines the length of the master cycle in user units. This value is scaled by the SCLMAS
parameter. Numeric variables (VAR) can be used with this command. The initial value for FMCLEN is zero
(FMCLENØ), which means that the default master cycle length is the maximum internal size (4,294,967,296).
The concept of a master cycle may be useful when moves or other events must be initiated at certain master
positions in a repetitive cycle. By specifying a master cycle length, periodic actions may be programmed in
a loop or with subroutines which refer to cycle positions, even if the master runs continuously. You can
program the Gem6K drive to suspend program operation or delay moves until specified master cycle
positions. The master cycle length, FMCLEN, should be defined before the functions which wait for periodic
master cycle positions are used. An axis need not be in Following mode (FOLEN1) to utilize the concept of
a master cycle. However, master positions will not be measured until a master has been assigned with
the FOLMAS command.
Example (refer also to FOLEN example #2):
SCLMAS4000 ; Set the master scale factor to 4000
FMCLEN3 ; Set master cycle length to 3 user units
FMCNEW Restart Master Cycle Counting

Syntax <a_><!>FMCNEW GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (do not restart) or 1 (restart immediately)
Default n/a
Response n/a
See Also FMCLEN, FMCP, GOWHEN, [ NMCY ], [ PMAS ], TPMAS, TRGFN, WAIT
The FMCNEW1 command restarts master cycle counting. This sets the master cycle position (PMAS) to the
value most recently specified with FMCP, and sets the master cycle number (NMCY) to zero. The master
cycle position and the master cycle number are set immediately, and program flow continues normally.
The function of the FMCNEW1 command can be initiated with a trigger input by specifying a TRGFNcx1
command. If the FMCNEW1 command is used, master cycle counting is restarted immediately; if TRGFNcx1
is used, the Gem6K drive will record the instruction to set the master cycle position when the specified
trigger occurs. In this case, the master cycle counting is restarted when the specified trigger is activated,
even though commands continue to execute and the master cycle counting continues.
FMCNEWØ or FMCNEW1 will remove the status of master cycle restart pending a trigger input (TRGFNcx1). In
the case of FMCNEWØ, no restart will occur, and the specified trigger will not cause a new cycle restart.
A new cycle automatically occurs (i.e., the master cycle position is set to zero, not the FMCP value), when
the master cycle length (FMCLEN) is reached, even if no FMCNEW command has been executed.
Example:
TPMAS ; Display master position: response is *TPMAS12.2
FMCNEW1 ; Start new master cycle
TPMAS ; Display master position: response is *0

FMCP Initial Master Cycle Position
Syntax <a_><!>FMCP<r> GT6K 6.0
Units r = master position in scalable steps
GV6K 6.0
Range r = ±999,999,999 (scalable with SCLMAS)
Default 0
Response FMCP *FMCP+0
See Also FMCNEW, FOLMAS, [ FS ], GOWHEN, SCLMAS, TFS, WAIT
The FMCP command defines the initial master cycle position in user units. The initial master cycle position
is assigned as the current master cycle position each time master cycle counting is restarted with the
FMCNEW or TRGFNcx1 command. This value is scaled by the SCLMAS parameter. Numeric variables (VAR)
can be used with this command. The default value for FMCP is zero (FMCPØ), which means that the master
cycle position will be zero when master cycle counting is restarted (see FMCNEW).
The concept of an initial master cycle position may be useful if new master cycle position counting must be
restarted at a master position which is different from what needs to be considered the “zero position” of a
periodic cycle. The initial position defined with FMCP applies to the first cycle only. When a master cycle is
complete, the master cycle position rolls over to zero. A negative value would be used if some master travel
were desired before master cycle position was zero. A positive value would be used if it was necessary to
enter the first master cycle at a position greater than zero.
For example, suppose FMCLEN was set to 20 and FMCP was set to 7. When master cycle position counting is
restarted, either via FMCNEW1 or the specified trigger (TRGFNcx1), the initial master cycle position will be 7.
Rollover will occur after the master travels 13 more units, and the master cycle position would go to zero.
Example:
FMCP-2 ; Set the initial master cycle position to -2
FOLEN Following Mode Enable

Syntax <a_><!>FOLEN GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response FOLEN: *FOLEN0
See Also FGADV, FOLK, FOLMAS, FOLRD, FOLRN, FOLRNF, [ FS ], FSHFC,
FSHFD, GOWHEN, JOG, JOY, TFS
The FOLEN command indicates whether subsequent moves on the specified axes will be following a master
(FOLEN1) or normal time-based moves (FOLEN0). The term Following mode means that FOLEN1 has been
given, and that the motion of the follower is dependent on the motion of the master at all times. If FOLEN0
is given, the motion of the master is still monitored, but the motion of the follower is independent of the
master.
To move in the Following mode, the master must be previously specified with the FOLMAS command.
Enabling the Following mode (FOLEN1) will set the net position shift value (reported by TPSHF and PSHF)
to zero. This is true even if the follower is already in Following mode.
S-Curve profiling is not operational during Following moves.
RESTRICTIONS ON USING FOLEN

The FOLEN command may not be executed during certain conditions (results in the error
message “NOT VALID DURING RAMP”).
• You may not enable Following (FOLEN1) on an axis that is in motion, waiting for a
GOWHEN condition, or operating in the Joystick mode (JOY1) or Jog mode (JOG1).
• You may not disable Following (FOLEN0) on an axis that is in motion (unless moving at
ratio in continuous mode, MC1, and not shifting) or waiting for a GOWHEN condition.

FOLEN Examples
Example #1:
The Gem6K drive is controlling a rotary motor, the master is a 1000-line incremental encoder mounted on
the back of an externally controlled motor, and programming units are to be revs/second (rps).
Stepper Products:
The follower will start ramping to a ratio of 1:1 when trigger #1 (TRG-1A) goes active. This
means the actual step ratio of follower to master is 25000 to 4000, or 6.25 follower steps for
every master. After 25 master revolutions, the follower will decelerate to a 0.5:1 ratio (3.125
follower steps for every master). After a total of 75 master revolutions, the follower will ramp
to zero ratio (i.e., stop) and repeat the cycle when trigger #1 is activated. All ramps to new
ratios, including zero ratio, take place over one master revolution.
Scaling Set Up: (prior to defining program)
SCLD25000 ; Set follower distance scale factor to 25,000 steps/rev
; (assumes a resolution of 25,000 steps/rev)
SCLMAS4000 ; Set master scale factor to 4000 steps/rev
Servo Products:
The follower will start ramping to a ratio of 1:1 when trigger #1 (TRG-1A) goes active. This
means the actual step ratio of follower to master is 4000 to 4000, or 1 follower steps for every
master. After 25 master revolutions, the follower will decelerate to a 0.5:1 ratio (0.5 follower
steps for every master). After a total of 75 master revolutions, the follower will ramp to zero
ratio (i.e., stop) and repeat the cycle when trigger #1 is activated. All ramps to new ratios,
including zero ratio, take place over one master revolution.
SCLD4000 ; Set follower distance scale factor to 4,000 steps/rev
; (assumes an encoder resolution of 4,000 steps/rev)
SCLMAS4000 ; Set master scale factor to 4000 steps/rev
The application program is defined as follows:

DEL FOLTST ; Delete program called FOLTST
DEF FOLTST ; Begin definition of program called FOLTST
INFNC1-H ; Set input #1 (TRG-1A) to be "trigger interrupt" (used with GOWHEN later)
COMEXC1 ; Select continuous command processing mode
MC1 ; Select continuous positioning mode
FOLMAS1 ; Assign master encoder input as master
FOLMD1 ; Follower should change ratios over 1 master revolution
FMCLEN100 ; Set master cycle length to 100 revs
FOLRD1 ; Set follower-to-master Following ratio denominator to 1
; (applies to all subsequent FOLRN commands)
D+ ; Set motion to the positive- direction
$STRMV ; Label to repeat move
TRGFNA1 ; Suspend execution of next move until trigger (TRG-1A) is active
TRGFNAx1 ; Begin new master cycle (counter at 0) when trigger (TRG-1A) is active
FOLRN1 ; Set follower-to-master Following ratio numerator to 1 (ratio set to 1:1)
GO1 ; Start continuous Following move (when TRG-1A is active)
WAIT(AS.26=b0 AND FS.4=b1) ; Wait for profile to actually start
; (when TRG-1A is active) and be at ratio
GOWHEN(PMAS>=25) ; Suspend execution of next move until master position >= 25
FOLRN0.5 ; Set Following ratio numerator to 0.5 (ratio set to 0.5:1)
GO1 ; Initiate new move according to new Following ratio
; (when master position >= 25)
; (when master position >= 25) and be at ratio
GOWHEN(PMAS>=75) ; Suspend execution of next move until master position >= 75
FOLRN0 ; Set Following ratio numerator to zero
; (ratio causes follower to ramp to stop)
GO1 ; Initiate new move with new Following ratio (when master pos. >= 75)
; (when master position >= 75) and the follower is not moving
JUMP STRMV ; Repeat the cycle
END ; End of program

Example #2:
Stepper Axes:
The master is an encoder mounted to gearing on a conveyor line. The gearing results in 16,000
encoder steps per conveyor inch. The follower, controlled by the Gem6K, is a 25,000 step/rev
microstepper on a 36" long, 4-pitch leadscrew. The follower waits for the product to be sensed on
the conveyor, accelerates to a 1-to-1 ratio, waits for a safe location to actuate the stamping
equipment, then applies an inked stamp to the product at the correct location. After the stamp is
placed, the follower quickly moves back to the starting position and waits for the next product.
Note that this example illustrates how the WAIT command can be used to wait for master cycle
positions in order to coordinate motion.
SCLA100000 ; Set accel scaling: 100,000 steps/inch
SCLV100000 ; Set velocity scaling: 100,000 steps/inch
SCLD100000 ; Set follower distance scaling: 100,000 steps/inch
SCLMAS16000 ; Set master scale factor to 16000 steps/inch to program in inches
Servo Axes:
The master is an encoder mounted to gearing on a conveyor line. The gearing results in 16,000
encoder steps per conveyor inch. The follower is a 4,000 step/rev servo on a 36" long, 4-pitch
leadscrew. The follower waits for the product to be sensed on the conveyor, accelerates to a 1-to-1
ratio, waits for a safe location to actuate the stamping equipment, then applies an inked stamp to
the product at the correct location. After the stamp is placed, the follower quickly moves back to
the starting position and waits for the next product. Note that this example illustrates how the
WAIT command can be used to wait for master cycle positions in order to coordinate motion.
SCLA16000 ; Set accel scaling: 16,000 steps/inch
SCLV16000 ; Set velocity scaling: 16,000 steps/inch
SCLD16000 ; Set follower distance scaling: 16,000 steps/inch
SCLMAS16000 ; Set master scale factor to 16,000 steps/inch to program in inches
The application program is defined as follows:

DEF STAMPR ; Begin definition of program called STAMPR
COMEXS1 ; Continue command execution after Stop
COMEXC1 ; Continue command execution during motion
SCALE1 ; Enable parameter scaling
1OUTFNC1-A ; Configure onboard output #1 as a general-purpose prog. output
1INFNC2-H ; Define TRG-1B as trigger interrupt (use as GOWHEN input)
A10 ; Acceleration = 10 inches/sec/sec
V5 ; Velocity = 5 inches/sec (non-Following moves)
MA1 ; Enable absolute positioning mode
FOLMAS1 ; Assign Master encoder input as master
FOLRN1 ; Set follower-to-master Following ratio numerator to 1
FOLRD1 ; Set follower-to-master Following ratio denominator to 1 (ratio is 1:1)
FOLMD1 ; Accel the follower over 1 master inch for Following moves
FMCLEN40 ; Master cycle length is 40 inches
$INKON ; Label to repeat inking process
FOLEN1 ; Enable Following on axis #1
1TRGFNBx1 ; Begin new master cycle when TRG-1B goes active
; (product sensed on conveyor)
1TRGFNB1 ; Start next move when TRG-1B is active
D+ ; Set to positive-direction
GO1 ; Start continuous follower move on trigger #2
WAIT(PMAS>=10.5) ; Wait until master position is 10.5 inches - this is when the
; stamping device can be actuated without mechanical damage
; to the leadscrew assembly
1OUT.1-1 ; Turn on actuator (output #1) to place ink stamp on product
T.1 ; Wait for the ink stamp to be pressed in place by a
; stationary stamper
1OUT.1-0 ; Turn off actuator (output #1)
S1 ; Stop follower move
WAIT(1AS.1=b0) ; Wait until the axis is not moving
FOLEN0 ; Disable Following
D0 ; Set distance (position) to zero

MC0 ; Select preset positioning mode
GO1 ; Move back to zero (the home position)
WAIT(MOV=b0) ; Wait until the axis is not moving
JUMP INKON ; Begin cycle again on trigger #2
END ; End of program
FOLK Following Kill

Syntax <a_><!>FOLK GT6K 6.0
Units n/a
GV6K 6.0
Range b= 0 (disable) or 1 (enable)
Default 0
Response FOLK *FOLK0
See Also DRIVE, [ ER ], ERROR, FOLEN, FOLRD, FOLRN, FOLMAS, FOLMD,
FSHFC, FSHFD, INFNC, K, [ PSHF ], SMPER, TER
Under default operation (FOLK0), certain error conditions (i.e., drive fault input active, or max. position
error limit exceeded) will cause the Gem6K to disable the drive and kill the Following profile (follower’s
commanded position loses synchronization with the master).
If you enable Following Kill (FOLK1), these error conditions will still disable the drive, but will not kill the
Following profile. Because the Following profile is still running, the drive keeps track of what the
follower’s position should be in the Following trajectory. To resume Following operation, resolve the error
condition (drive fault, excessive position error), enable the drive (DRIVE1), and command the drive to
impose a shift to compensate for the lapse/shift that occurred while the drive was disabled and the follower
was not moving. To impose the shift, assign the negative of the internally monitored shift value (PSHF) to a
variable (e.g., VAR1 = -1 * PSHF) and command the shift using a variable substitution in the FSHFD
command (e.g., FSHFD(VAR1)).
The FOLK command only preserves Following profiles; normal velocity-based profiles will be killed
regardless of the FOLK command.
FOLMAS Assignment of Master to Follower

Syntax <a_><!>FOLMAS<±ii > GT6K 6.0
Units 1st i = master #; GV6K 6.0
2nd i = master count source;
± sets direction of master counts relative to direction of
actual master count source
Range 1st i = 1-8 if 2nd i = 8; otherwise 1st i = 1
2nd i = 1 (encoder),
2 (analog input),
4 (commanded position),
5 (internal count source),
6 (internal sine wave source),
7 (RESERVED), or
8 (VARI variable).
NOTE: “1”, by itself, selects the master encoder.
“0”, by itself, disables the axis from being a follower
Default +0 (disable from being a follower axis)
Response FOLMAS *FOLMAS+0
See Also ANIMAS, FGADV, FOLEN, FOLK, FOLMD, FOLRD, FOLRN, FOLRNF,
[ FS ], FVMACC, FVMFRQ, SINAMP, SINANG, SINGO, TFS
Use FOLMAS to assign or un-assign a master to a follower axis. The data field (±ii) configures the axis as a
follower following the specified master count source:
Exceptions to the syntax:
• If a one (1) is placed in the data field (±ii), the axis will follow the counts from the Master Encoder
(the separate encoder labeled “MASTER ENCODER”).
• If a zero (Ø) is placed in the data field (±ii), the axis becomes a normal non-Following axis.

Following a Virtual Master. There are two “Virtual Master” options (an internal count source and an
internal sine wave) for applications that require the synchronization features of Following, but have no
external master. For a detailed description of virtual master features, see Virtual Master in the
Programmer’s Guide.
• Master Source Option 5 (e.g., FOLMAS±15) selects the internal count source as master. The
frequency and acceleration of the internal count source are established with the FVMACC and
FVMFRQ commands, respectively.
• Master Source Option 6 (e.g., FOLMAS±16) selects the internal sine wave as master. The angle and
amplitude of the sine wave are established with the SINANG and SINAMP commands, respectively.
To start and stop the internal sine wave generator, use the SINGO command.
Following an Integer Variable (Option 8: syntax is FOLMASn8). This option allows an axis to follow the
integer variable (VARI) specified with “n”; that is, VARIn. The range for “n” is 1-8 (VARI1 – VARI8).
For example, FOLMAS48 assigns the axis to follow VARI4.
This option is particularly useful in conjunction with the INVARI (Map Inputs to a VARI Variable)
feature. INVARI continuously updates a specified VARI variable with the value of a specified group of
digital inputs, allowing the axis to follow a binary input pattern. Another useful way to update the
value of the VARI variable is to calculate its value in a PLCP program (launched with the SCANP
command).
The INVARI and SCANP options for updating VARI are good choices, because both are performed
every system update, thus facilitating smooth Following motion. It is also possible to use an extra task
(multi-tasking) to calculate VARI values, but the resulting updates will not be as fast (not perfectly
periodic); consequently, Follow motion will be less smooth.
If scaling is enabled (SCALE1), the measurement of the master is scaled by the SCLMAS value. For more
information on scaling, refer to page 16 or to the SCLMAS command description.
NOTES
• A follower axis cannot use its own feedback device or commanded position as the
master input.
• Before you can use an analog input as a master count source, you must first use the
ANIMAS command to assign the analog input to a master axis number. Then you can
use the FOLMAS command to assign the analog input as a master counting source for
the follower axis.
As an example, the FOLMAS+1 command sets up these parameters:

• Follower axis #1 is set up as follows (+1): the master encoder is assigned as the master to follower
axis #1. The positive sign bit indicates that master counts will count in the same direction as the
master encoder.
NOTE
The FOLMAS command configures an axis to be a follower, but does not automatically
enable Following. To enable Following use the FOLEN1 command. To enable follower
motion, enable Following (FOLEN1), issue a ratio (FOLRN and FOLRD), and issue the GO
command.
As soon as the master is specified with the FOLMAS command, a continuously updated relationship is
maintained between the follower's position and the master's position. Also, master velocity is continuously
measured.
There are several applications in which a minus sign in the FOLMAS command is used. A minus sign should
be used whenever the master is moving in the desired positive direction and yet the Gem6K drive actually
perceives the master to be moving in the negative direction. For example, this can occur when the master
input device is mounted on the opposite side of a conveyor. Putting a minus sign in front of the master

parameter specification in the FOLMAS command causes the incoming master signal to be negated before it
is used by the follower. The term master count refers to the count after negation, if any.
For preset follower moves, the direction the follower travels depends on the mode of operation (absolute or
incremental) and the commanded position. However, once a preset follower move is commanded, it will
only start moving if the master is moving in the positive direction. This is true no matter the commanded
direction of the follower move.
For continuous follower moves, the master count direction has a different effect. If the commanded move is
positive in direction and the master is counting up, the actual follower travel direction will be positive. If
the commanded move is positive in direction and the master is counting down, the actual follower travel
direction will be negative. Similar cases exist for follower moves commanded in the negative direction.
Example: (refer to the FOLEN examples)
FOLMD Master Distance

Syntax <a_><!>FOLMD<r> GT6K 6.0
Units r = distance in counts
GV6K 6.0
Range 0 - 999,999,999 (scalable by SCLMAS)
Default 0
Response FOLMD *FOLMD0
See Also ANIMAS, FGADV, FOLEN, FOLK, FOLRN, FOLRNF, FOLRD, MC, [ PMAS ],
SCLMAS, TPMAS
If a follower is in continuous positioning mode (MC1), FOLMD is the master distance over which acceleration
or deceleration from the current ratio to the new ratio takes place. Or, if a follower is in preset positioning
mode (MCØ), the FOLMD command indicates the master distance over which the next preset move will take
place.
If scaling is enabled (SCALE1), the FOLMD value is specified in user units and is scaled by the SCLMAS
parameter (for more detail on scaling, refer to page 16 or to the SCLMAS command description). Numeric
variables (VAR) can be used with this command (e.g., FOLMD(VAR6)).
By carefully specifying accurate master distances for each ramp of a follower's move profile, a precise
position relationship between master and follower will be maintained during all phases of the profile. The
Master and Follower Distance Calculation section in the Following chapter of the Programmer’s Guide
discusses the relationship between ratio changes and the corresponding master and follower distances.
HINT: If a follower is in continuous mode (MC1) and the master is starting from rest, setting FOLMD to Ø will
ensure precise tracking of the master's acceleration ramp.
Examples: (refer also to the FOLEN examples)
SCLMAS4000 ; Master scale factor is 4000 steps/rev
SCLD4000 ; Follower scale factor is 4000 steps/rev
DEL progx ; Delete program called progx
DEF progx ; Begin definition of program called progx
FOLMAS1 ; Master encoder is the master
FOLMD0 ; Assign Following acceleration distance to 0 master revs
; (i.e., instantaneous)
; Ratio set to 1:1
D- ; Set direction to opposite direction of the master
GO1 ; Begin following master. If the master is not moving, follower
; will remain at rest until master moves, at which time the
; follower will track the master precisely, but in the opposite
; direction as the master.
END ; End definition of progx

FOLRD Denominator of Follower-to-Master Ratio
Syntax <a_><!>FOLRD<r> GT6K 6.0
Units r = master distance in counts
GV6K 6.0
Range r = 1.00000 - 999,999,999 (scalable by SCLMAS)
Default 1
Response FOLRD *FOLRD1
See Also COMEXC, FGADV, FOLEN, FOLK, FOLMAS, FOLRN, FOLRNF, SCLMAS
The FOLRD command establishes the denominator of a ratio between follower and master travel. (Ratios are
always specified as positive, similar to velocity.) For a preset move (MCØ), it is the maximum allowed ratio,
and for a continuous move (MC1), it is the final ratio reached by the follower. The actual follower direction
will depend on commanded moves (D+ or D-) and master direction.
If no FOLRD parameter is specified, it is assumed to be 1.
If scaling is enabled (SCALE1), the FOLRD value is scaled by the SCLMAS value. For more detail on scaling,
refer to page 16 or to the SCLMAS command description.
Numeric variables (VAR) can be used with this command for master parameters (e.g., FOLRD(VAR5)).
Each time FOLRN or FOLRD are given, the Gem6K drive divides the scaled numerator and denominator to
calculate the ratio, but round-off errors are eliminated by measuring both master and follower over a large
distance. After scaling, the maximum magnitude of the ratio is 127 follower steps for every master step.
ON-THE-FLY CHANGES: You can change Following ratio on the fly (while motion is in progress) in
two ways. One way is to send an immediate command (!FOLRD) followed by an immediate go command
(!GO). The other way is to enable the continuous command execution mode (COMEXC1) and execute a
buffered command (FOLRD) followed by a buffered go command (GO).
Example: (refer also to the FOLEN examples)
SCLD25000 ; Set follower scaling factor to 25,000
SCLMAS4000 ; Set master scaling factor to 4,000
FOLRN5 ; Set ratio numerator to 5 (5 * 25,000 = 125,000)
FOLRD3 ; Set ratio denominator to 3 (3 * 4,000 = 12,000)
; (Resulting ratio is 125 follower steps to every 12 master steps.)
FOLRN Numerator of Follower-to-Master Ratio

Syntax <a_><!>FOLRN<r> GT6K 6.0
Units r = follower distance in steps
GV6K 6.0
Range r = 0.00000 – 999,999,999.99999 (scalable by SCLD)
Default 1
Response FOLRN *FOLRN1
See Also FGADV, FOLEN, FOLK, FOLMAS, FOLRNF, FOLRD, SCLD
The FOLRN command establishes the numerator of a ratio between follower and master travel. (Ratios are
always specified as positive, similar to velocity.) For a preset move (MCØ), it is the maximum allowed ratio,
and for a continuous move (MC1), it is the final ratio reached by the follower. The actual follower direction
will depend on commanded moves (D+ or D-) and master direction.
If no FOLRN parameter is specified, it is assumed to be 1.
If scaling is enabled (SCALE1), the FOLRN value is scaled by the SCLD value. For more detail on scaling,
refer to page 16 or to the SCLD command description.
Numeric variables (VAR) can be used with this command for follower parameters (e.g., FOLRN(VAR2)).

Each time FOLRN or FOLRD are given, the Gem6K drive divides the scaled numerator and denominator to
calculate the ratio, but round-off errors are eliminated by measuring both master and follower over a large
distance. After scaling, the maximum magnitude of the ratio is 127 follower steps for every master step.
ON-THE-FLY CHANGES: You can change Following ratio on the fly (while motion is in progress) in
two ways. One way is to send an immediate command (!FOLRN) followed by an immediate go command
buffered command (FOLRN) followed by a buffered go command (GO).
Example: refer to the FOLRD and FOLEN examples
FOLRNF Numerator of Final Follower-to-Master Ratio, Preset Moves

Type Following; Compiled Motion Product Rev
Syntax <a_><!>FOLRNF<r> GT6K 6.0
Units r = follower distance in steps
GV6K 6.0
Range 0.00000
Default 0
Response FOLRNF *FOLRNF0
See Also FGADV, FOLEN, FOLRD, FOLRN, FOLMD, SCLD
The FOLRNF command establishes the numerator of the final ratio between follower and master travel.
(Ratios are always specified as positive, similar to velocity.) The FOLRNF command designates that the motor
will move the load the distance designated in a preset GOBUF segment, completing the move at a final ratio of
zero. FOLRNF applies only to the first subsequent GOBUF, which marks an intermediate “end of move” within
a following profile. FOLRNF is used only in conjunction with the GOBUF command. Normal preset GO moves
always finish with zero FOLRNF.
If scaling is enabled (SCALE1), the FOLRNF value is scaled by the SCLD value. For more detail on scaling,
refer to page 16 or to the SCLD command description.
NOTE: The only allowable value for FOLRNF is Ø, and it may only be used with compiled preset Following
moves (a non-zero FOLRNF value will result in an immediate error message). FOLRNF is allowed for a
segment only if the starting ratio is also zero (i.e., it must be the first segment, or the previous segment
must have ended in zero ratio).
With compiled preset Following moves where FOLRNF has not been given, the final ratio is given with FOLRN,
and the shape of the intermediate profile will be constrained to be within the starting and ending ratios.
For more information on using the FOLRNF command, refer to Compiled Following Profiles in the Custom
Profiling chapter in the Programmer's Guide.
FPPEN Master Position Prediction Enable

Syntax <a_><!>FPPEN GT6K 6.0
Units n/a
GV6K 6.0
Default 1
Response FPPEN *FPPEN1
See Also [ FS ], TFS
The FPPEN command enables or disables Master Position Prediction in the Gem6K drive Following algorithm.
Master Position Prediction is enabled by default, but can be disabled as desired with the FPPENØ command.
The Gem6K drive measures master position once per position sample period and calculates a corresponding
follower commanded position. This calculation, and achieving the subsequent follower commanded position,
requires 2 sample periods (4 milliseconds).
Enabling Master Position Prediction (FPPEN1) eliminates any lag in follower position which would be
dependent on master speed. It may be desirable to disable Master Position Prediction (FPPENØ) when

maximum follower smoothness is important and minor phase delays can be accommodated. A detailed
discussion of Master Position Prediction is given in the Following chapter of the Programmer's Guide.
Example:
FPPEN1 ; Enable Master Position Prediction.
[ FS ] Following Status
Type Following; Assignment or Comparison Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also FGADV, FMAXA, FMAXV, FMCLEN, FMCP, FOLEN, FOLMAS, FPPEN, FSHFC,
FSHFD, MC, [ NMCY ], [ PMAS ], TFS, TFSF, VARB
The FS command is used to assign the Following status bits to a binary variable, or to make a comparison
against a binary or hexadecimal value. The function of each status bit is shown below.
Bit Assignment
(left to right) Function (YES = 1; NO = Ø)
1 Follower in Ratio Move A Following move is in progress.

2 Ratio is Negative The current ratio is negative (i.e., the follower counts are counting in the
opposite direction from the master counts).
3 Follower Ratio Changing The follower is ramping from one ratio to another (including a ramp to or
from zero ratio).
4 Follower At Ratio The follower is at constant non-zero ratio.
*5 FOLMAS Active A master is specified with the FOLMAS command.

*6 FOLEN Active Following has been enabled with the FOLEN command.
*7 Master is Moving The specified master is currently in motion.
8 Master Dir Neg The current master direction is negative. (bit must be cleared to allow
Following move in preset mode–MCØ).
9 OK to Shift Conditions are valid to issue shift commands (FSHFD or FSHFC).

10 Shifting now A shift move is in progress.
11 Shift is Continuous An FSHFC-based shift move is in progress.
12 Shift Dir is Neg The direction of the shift move in progress is negative.
13 Master Cyc Trig Pend A master cycle restart is pending the occurrence of the specified trigger.
14 Mas Cyc Len Given A non-zero master cycle length has been specified with the FMCLEN
command.
15 Master Cyc Pos Neg The current master cycle position (PMAS) is negative. This could be
caused by a negative initial master cycle position (FMCP), or if the master
is moving in the negative direction.
16 Master Cyc Num > 0 The master position (PMAS) has exceeded the master cycle length
(FMCLEN) at least once, causing the master cycle number (NMCY) to
increment.
17 Mas Pos Prediction On Master position prediction has been enabled (FPPEN).
18 Master Filtering On A non-zero value for master position filtering (FFILT) is in effect.
19 RESERVED
20 RESERVED
(continued on next page)

21 RESERVED
22 RESERVED
23 OK to do FGADV move OK to do Geared Advance move (master assigned with FOLMAS,
Following enabled with FOLEN, and follower axis is either not moving, or
moving at constant ratio in continuous mode).
24 FGADV move underway Geared Advance move profile is in progress.
25 RESERVED
26 FMAXA/FMAXV limited The present Following move profile is being limited by FMAXA or FMAXV.
27-32 RESERVED
* All these conditions must be true before Following motion will occur.
Syntax: VARBn=FS where n is the binary variable number, or FS can be used in an expression such as
IF(FS=b11Ø1), or IF(FS=h7F).
To make a comparison against a binary value, place the letter b (b or B) in front of the value that
the Following status is being compared against. The binary value itself must only contain ones,
zeros, or Xs (1, Ø, X, x). To make a comparison against a hexadecimal value, the letter h (h or
H) must be placed in front of the value that the Following status is being compared against. The
hexadecimal value itself must only contain the letters A through F, and the numbers Ø through 9.
If you wish to assign only one bit of the Following status to a binary variable, instead of all 32,
use the bit select (.) operator. The bit select, in conjunction with the bit number, is used to
specify a specific Following status bit (e.g., VARB1=FS.12 assigns status bit 12 to binary
variable 1).
Example:
VARB1=FS ; Following status assigned to binary variable 1
VARB2=1FS.12 ; Following status bit 12 assigned to binary variable 2
VARB2 ; Response if bit 12 is set to 1 should be:
IF(FS=b111011X11) ; If the Following status contains 1's for bit locations
; 1, 2, 3, 5, 6, 8, and 9, and a 0 for bit location 4,
IF(FS=h7F00) ; If the Following status contains 1's for bits 1,
; 2, 3, 5, 6, 7, and 8, and 0's for every other bit location,
FSHFC Continuous Shift

Syntax <a_><!>FSHFC GT6K 6.0
Units i = shift feature to implement
GV6K 6.0
Range i = 0 (stop), 1 (positive-direction), 2 (negative-direction),
or 3 (kill)
Default n/a
Response n/a
See Also FGADV, FOLEN, FOLK, FOLRN, FOLRNF, FOLRD, [ FS ], FSHFD, MC,
[ PSHF ], TFS, TPSHF
The FSHFC command allows time-based follower moves to be superimposed on continuous Following
moves. This results in a shift (change in phase) between the master position and the follower position.
Continuous shift moves in the positive- or negative-direction may be commanded only while the follower is
in the Following mode (FOLEN1).

Steppers only: An FSHFC move may be performed only when the follower is in the continuous
positioning mode (MC1) and performing a Following move at a constant ratio.
The most recently commanded velocity (V) and acceleration (A) for the follower axis will determine the
speed at which the FSHFC move takes place. The velocity and direction of the FSHFC shift is independently
superimposed on whatever velocity and direction results from the ratio and motion of the master. The
FSHFC shift is not a change in ratio; rather, it is a velocity added to a ratio. The velocity commanded is
added to the present speed at which the follower is moving, up to the velocity limit of the product. For
example, assume a follower is traveling at 1 rps in the positive direction while following a master. If a
FSHFC move is commanded in the positive direction at 2 rps, the follower's actual velocity (after
acceleration) will be 3 rps.
The FSHFC parameters stop (Ø) and kill (3) can be used to halt a continuous FSHFC move (positive-
direction or negative-direction). The example below shows how to stop a FSHFC continuous move.
An FSHFC move may be needed to adjust the relative follower position on the fly during the continuous
Following move. For example, suppose an operator is visually inspecting the follower's motion with respect
to the master. If he notices that the master and follower are out of synchronization, it may be desirable to
have an interrupt programmed (e.g., activated with a push-button switch) that will allow the operator to
advance or retard the follower at a superimposed correction speed until the operator chooses to have the
follower start tracking the master again. The example below shows this.
FSHFC Example:
Assume all scale factors and set-up parameters have been entered for the master and follower. In this
example, the follower is continually following the master at a 1:1 ratio. If the operator notices some
misalignment between master and follower, he can press 1 of 2 pushbuttons (connected to onboard trigger
inputs #1 and #2, which are also referred to as TRG-1A and TRG-1B) to shift the follower in the positive-
or negative-direction at 0.1 user scaled units until the button is released. After the adjustment, the program
continues on as before.
Example:
DEF SHIFT ; Begin definition of program called SHIFT
V.1 ; Add or subtract 0.1 user scaled units from the follower velocity
; when shifting
COMEXS1 ; Continue command execution after stop
FOLMAS1 ; Master encoder input is the master
; (ratio set to 1:1)
FOLEN1 ; Enable Following mode
D+ ; Set to positive-direction
GO1 ; Start following master continuously
VARB1=b10 ; Define onboard input pattern #1 and assign to VARB1
VARB2=b01 ; Define onboard input pattern #2 and assign to VARB2
$TESTIN ; Define label called TESTIN
IF(IN=VARB1) ; IF statement (if onboard input #1 is activated, do the jump)
JUMP SHIFTP ; Jump to shift follower in the positive-direction when pattern 1
; active
JUMP SHIFTN ; Jump to shift follower in the negative-direction when pattern 2
; active
JUMP TESTIN ; Return to main program loop
$SHIFTP ; Define label called SHIFTP (subroutine to shift in the
; positive direction)
FSHFC1 ; Start continuous follower shift move in positive-direction
WAIT(IN.1=b0) ; Continue shift until onboard input #1 is deactivated
FSHFC0 ; Stop shift move
$SHIFTN ; Define label called SHIFTN (subroutine to shift in the

; negative-direction)
FSHFC2 ; Start continuous follower shift move in the negative-direction
WAIT(IN.2=b0) ; Continue shift until onboard input #2 is deactivated
FSHFC0 ; Stop shift move
END ; End definition of program called SHIFT
FSHFD Preset Shift

Syntax <a_><!>FSHFD<r> GT6K 6.0
Units r = shift distance
GV6K 6.0
Range r = 0.00000 - 999,999,999 (scalable with SCLD)
Default n/a
Response n/a
See Also FGADV, FOLEN, FOLK, FOLRN, FOLRNF, FOLRD, [ FS ], FSHFC, MC,
ONCOND, [ PSHF ], SCLD, TFS, TPSHF
The FSHFD command allows time-based follower moves to be superimposed on continuous Following
moves. This results in a shift (change in phase, or registration) between the master position and the follower
position. Preset shift moves of defined or variable distances, may be commanded only while the follower is
in the Following mode (FOLEN1). The FSHFD distance is scaled by the SCLD value of scaling is enabled
(SCALE1).
The most recently commanded velocity (V) and acceleration (A) for the follower axis will determine the
speed at which the FSHFD move takes place. The velocity and direction of the FSHFD shift is independently
superimposed on whatever velocity and direction results from the ratio and motion of the master.
The FSHFC parameters stop (Ø) and kill (3) can be used to halt an FSHFD.
It should be noted that FSHFD is similar in execution to GO. The entire preset distance shift, or ramp-to-shift
velocity, must finish before the Gem6K drive proceeds to the next command.
The FSHFD shift is not a change in ratio; rather, it is a velocity added to a ratio. The velocity commanded
will be added to the present speed at which the follower is moving, up to the velocity limit of the product.
For example, assume a follower is traveling at 1 rps in the positive direction while following a master. If a
FSHFD move is commanded in the positive direction at 2 rps, the follower's actual velocity (after
acceleration) will be 3 rps.
An FSHFD move may be needed to adjust the follower position on the fly because of a load condition which
changes during the continuous Following move. For example, suppose an operator is visually inspecting
the follower's motion with respect to the master. If the operator notices that the master and follower are out
of synchronization, it may be desirable to have an input programmed (e.g., activated with a push-button
switch) that will allow the operator to advance or retard the follower a fixed distance, and then let the
follower resume tracking the master. The example below illustrates this.
FSHFD Example:
Assume all scale factors and set-up parameters have been entered for the master and follower. In this
example, the follower is continually following the master at a 1:1 ratio. If the operator notices some
misalignment between master and follower, he can press 1 of 2 pushbuttons (connected to onboard trigger
inputs #1 and #2, which are also referred to as TRG-1A and TRG-1B) to advance or retard the follower a
fixed distance of 200 steps. After the adjustment, the follower resumes tracking the master as before.
Example:
DEF PSHIFT ; Begin definition of program called PSHIFT
COMEXS1 ; Continue command execution after stop
FOLMAS1 ; Master encoder input is the master for axis 1
; (ratio set to 1:1)
FOLEN1 ; Enable Following mode

D+ ; Set direction to positive
GO1 ; Start following master continuously
VARB1=b10 ; Define input pattern #1 and assign to VARB
VARB2=b01 ; Define input pattern #2 and assign to VARB
$TESTIN ; Define label called TESTIN
JUMP SHIFTP ; Jump to shift follower in positive-direction when pattern 1 active
JUMP SHIFTN ; Jump to shift follower in negative-direction when pattern 2 active
$SHIFTP ; Define label called SHIFTP (subroutine to shift in the
; positive direction)
FSHFD200 ; Start preset follower shift move of 200 steps in positive direction
WAIT(FS.10=b0) ; Wait for shift to finish
$SHIFTN ; Define label called SHIFTN (subroutine to shift in the
; negative direction)
FSHFD-2ØØ ; Start preset follower shift move of 200 steps in the negative
; direction
WAIT(FS.10=b0) ; Wait for shift to finish
END ; End definition of program called PSHIFT
FVMACC Virtual Master Count Acceleration

Syntax <a_><!>FVMACC GT6K 6.0
Units i = count acceleration in counts/sec/sec
GV6K 6.0
Range 0-999,999,999
Default 0
Response FVMACC *FVMACC+0
See Also FOLMAS, FVMFRQ, SINAMP, SINANG, SINGO
Use the FVMACC command to define the rate at which the virtual master internal count frequency may
change. This command allows smooth changes in master velocity and direction.
FVMFRQ Virtual Master Count Frequency

Syntax <a_><!> FVMFRQ GT6K 6.0
Units i = count frequency in counts/sec
GV6K 6.0
Range ±1,000,000
Default +0
Response FVMFRQ *FVMFRQ+0
See Also FOLMAS, FVMACC, SINAMP, SINANG, SINGO
Use the FVMFRQ command to define the virtual master count frequency. The “virtual master” is an internal
count source, intended to mimic the counts which might be received on an external encoder port. Just as
may be encountered with an external encoder, this count source may speed up, slow down, stop, or count
backwards.
The count source has a variable count frequency, defined by the user. The count source is always enabled,
counting at the signed rate specified by this command. To start and stop the count source, specify non-zero
or zero values, respectively, for the FVMFRQ command.
The rate at which the count frequency may change is specified in counts per second per second with the
FVMACC command, allowing smooth changes in master velocity and direction.

GO Initiate Motion
Syntax <a_><!>GO GT6K 6.0
Units n/a
GV6K 6.0
Range b = 1 (go); or blank
Default 1
Response GO: No response; instead, motion is initiated
See Also A, AA, AD, ADA, COMEXC, D, GOBUF, GOWHEN, K, LH, LS, MA, MC,
PSET, S ,SCLA, SCLD, SCLV, SSV, TAS, TEST, V
The GO command instructs the motor to make a move using motion parameters that have been previously
entered. Several commands affect the motion that will occur when a GO is received: A, AA, AD, ADA, D, V,
LH, LS, MA, and MC.
The GO1 command and the GO command both start motion.

If motion does not occur after a GO command has been issued, check TAS bits 15-18 to ascertain if the
hardware or software end-of-travel limits have been encountered.
On-The-Fly (Pre-emptive GO) Motion Profiling

While motion is in progress (regardless of the positioning mode), you can change these motion
parameters “on-the-fly” (OTF) to affect a new profile:
• Acceleration (A) — S-curve acceleration is not supported in OTF motion changes
• Deceleration (AD) — S-curve acceleration is not supported in OTF motion changes
• Velocity (V)
• Distance (D)
• Preset or Continuous Positioning Mode Selection (MC)
• Incremental or Absolute Positioning Mode Selection (MA)
• Following Ratio Numerator and Denominator (FOLRN and FOLRD, respectively)
The motion parameters can be changed by sending the respective command (e.g., A, V, D, MC, etc.)
followed by the GO command. If the continuous command execution mode is enabled (COMEXC1), you can
execute buffered commands; otherwise, you must prefix each command with an immediate command
identifier (e.g., !A, !V, !D, !MC, etc., followed by !GO). The new GO command pre-empts the motion
profile in progress with a new profile based on the new motion parameter(s).
For more information, refer to the Custom Profiling section in the Programmer's Guide.
Example:
SCLA25000 ; Set the accel. scale factor to 25000 steps/unit
SCLV25000 ; Set the velocity scale factor to 25000 steps/unit
SCLD1 ; Set the distance scaling factor to 1 step/unit
V1 ; Set the velocity to 1 units/

GOBUF Store a Motion Segment in Compiled Memory
Type Compiled Motion Product Rev
Syntax <a_><!>GOBUF GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (don't go) or 1 (go)
Default 1
Response n/a
See Also [ AS ], DEF, END, [ ER ], FOLRNF, MC, MEMORY, PCOMP, PEXE,
POUTn, PRUN, PUCOMP, PLOOP, PLN, [ SS ], TAS, TER, TSS, VF,
(Compiled Motion overview in Custom Profiling in the Programmer's Guide.)
The GOBUF command creates a motion segment as part of a profile and places it in a segment of compiled memory, to
be executed after all previous GOBUF motion segments have been executed. When a GOBUF command is executed, the
distance from the new D command is added to the profile’s current goal position as soon as the GOBUF command is
executed, thus extending the overall move distance of the profile under construction.
GOBUF is not a stand-alone command; it can only be executed within compiled programs, using the PCOMP and PRUN
commands.
Each GOBUF motion segment may have its own distance to travel, velocity, acceleration and deceleration. The end of a
preset segment (MCØ) is determined by the distance or position specified; a compiled MCØ GOBUF motion segment is
finished when the "D" goal is reached. The end of a continuous motion (MC1) segment is determined by the ratio or
velocity specified; a compiled MC1 GOBUF motion segment is finished when the velocity or ratio goal is reached. If
either a preset segment or continuous segment is followed by a compiled GOWHEN command, motion will continue at
the last velocity until the GOWHEN condition becomes true, and the next segment begins.
The GOBUF command is not allowed during absolute positioning mode (MA1).
Starting velocity of a GOBUF segment

Every GOBUF motion segment will start at a velocity equal to the previous segment’s end velocity. If the
previous GOBUF segment uses the VFØ command, then it will end at zero velocity; otherwise, the end
velocity will be equal to the goal velocity (V) of the previous segment.
Ending velocity of a GOBUF segment
Preset Positioning Mode (MCØ)
A preset motion segment starts at the previous motion segment’s end velocity, attempts to reach the
goal velocity (V) with the programmed acceleration and deceleration (A and AD) values, and is
considered completed when the distance (D) goal is reached.
In non-Following motion (FOLENØ), the last preset GOBUF segment always ends at zero velocity,
but if you wish the velocity between intermediate GOBUF segments to end at zero velocity, use the
VFØ command. In Following mode (FOLEN1), the last preset GOBUF segment will end with the last-
specified goal velocity, but if you wish the velocity between intermediate GOBUF segments to end at
zero velocity, use the FOLRNF command.
Each GOBUF will build a motion segment that, by default, becomes known as the last segment in the
profile. The last motion segment in a profile must end at zero velocity. If using pre-compiled loops
(PLOOP) and the loop is closed after the last GOBUF segment (PLN occurs after the last GOBUF), then
the unit will not consider the last GOBUF as a final motion segment since it can link to either the first
segment of the loop or the next segment after the loop. If the conditions are such that the last
motion segment is within a loop and does not end at zero velocity, then an error is generated
(TSS/SS bit #31 is set) at compile time (PCOMP), and the profile remains un-compiled.
Continuous Positioning Mode (MC1)
A continuous segment starts at the previous motion segment’s end velocity, and is considered
complete when it reaches the goal velocity (V) at the programmed accel (A) or decel (AD) values.
You may use a mode continuous (MC1) non-zero velocity segment as the last motion segment in a
profile (no error will result). The axis will continue traveling at the goal velocity.
NOTE: Each GOBUF motion segment can consume from 2-8 memory segments of compiled memory. If
there is no more space left in compiled memory, a compilation error will result.

Example:
DEF simple ; Begin definition of program The resulting profile from this program:
D50000 ; Distance is 50000 v D50000
A10 ; Acceleration is 10
5
AD10 ; Deceleration is 10
V5 ; Velocity is 5 4
GOBUF1 ; 1st motion segment 3

D30000 ; Distance is 30000
2
V2 ; Velocity is 2
D30000
GOBUF1 ; 2nd motion segment 1
D40000
0
V4 ; Velocity is 4 t
GOBUF1 ; 3rd motion segment
PCOMP simple ; Compile simple

PRUN simple ; Run simple
GOSUB Call a Subroutine

Type Program; Subroutine Definition; Program Flow Control Product Rev
Syntax <a_><!>GOSUB<t> GT6K 6.0
Units t = text (name of program/subroutine)
GV6K 6.0
Default n/a
Response n/a
See Also $, BREAK, DEF, DEL, END, ERASE, GOTO, JUMP, RUN
The GOSUB command branches to the corresponding program/subroutine name when executed. A subroutine
name consists of 6 or fewer alpha-numeric characters. The subroutine that the GOSUB initiates will return
control to the line after the GOSUB, when the subroutine completes operation. If an invalid subroutine name is
entered, no branch will occur, and processing will continue with the line after the GOSUB.
If you do not want to use the GOSUB command before the subroutine name (GOSUBsubname), you can
simply use the subroutine name without the GOSUB attached to it (subname).
If a subroutine is executed, and a BREAK command is received, the subroutine will return control to the
calling program or subroutine immediately.
Up to 16 levels of subroutine calls can be made without receiving an error.
Example:
DEF prog1 ; Begin definition of program prog1 to be used as a subroutine
COMEXC0 ; Disable continuous command processing mode
A10 ; Set acceleration to 10 revs/sec/sec
V1 ; Set velocity to 1 rev/sec
L10 ; Loop 10 times
GOSUB prog2 ; GOSUB to program prog2 as a subroutine
LN ; End loop
END ; End subroutine definition of program proga
DEF prog2 ; Begin definition of program prog2
OUT1 ; Turn on output #1
T1 ; Time delay of 1 second
OUT0 ; Turn off output #1
END ; End subroutine definition of program prog2
; After program prog1 is initiated, and the first move of 4000 counts is complete, a
; GOSUB will occur causing the execution of program prog2. After program prog2
; finishes, control will be passed back to program prog1, to the command immediately
; following the GOSUB.

GOTO Goto a Program or Label
Type Program; Subroutine Definition; Program Flow Control Product Rev
Syntax <!>GOTO<t> GT6K 6.0
Units t = text (name of program/label)
GV6K 6.0
Default n/a
Response n/a
See Also $, DEF, DEL, END, GOSUB, IF, JUMP, L, LN, NIF, NWHILE, REPEAT, RUN,
UNTIL, WHILE
The GOTO command branches to the corresponding program name or label when executed. A program or
label name consists of 6 or fewer alpha-numeric characters. The program or label that the GOTO initiates
will not return control to the line after the GOTO when the program completes operation—instead, the
program will end. This holds true unless the subroutine in which the GOTO resides was called by another
program; in this case, the END in the GOTO program will initiate a return to the calling program.
If an invalid program or label name is entered, the GOTO will be ignored, and processing will continue with
the line after the GOTO.
CAUTION
Use caution when performing a GOTO between IF & NIF, or L & LN, or REPEAT &
UNTIL, or WHILE & NWHILE. Branching to a different location within the same program
will cause the next IF, L, REPEAT or WHILE statement to be nested within the previous
IF, L, REPEAT or WHILE statement unless a NIF, LN, UNTIL or NWHILE command has
already been encountered. If you wish to avoid this nesting situation, use the JUMP
command instead of the GOTO command.
Example:
DEF pick ; Begin definition of subroutine named pick
D-5000 ; Set distance to -5000
END ; End subroutine definition
DEF place ; Begin definition of subroutine named place
GOTO pick ; Goto to subroutine named pick
D+5000 ; Set distance to +5000
place ; Execute program named place
; After the GOTO command, the D+5000 and GO1 commands will not be executed because a
; GOTO was issued. If a GOSUB was used instead of the GOTO statement, control would
; have been returned to the line after the GOSUB.
GOWHEN Conditional Go
Syntax <a_><!>GOWHEN(expression) GT6K 6.0
Units n/a
GV6K 6.0
Range Up to 80 characters (including parentheses)
Default n/a
Response n/a
See Also [ AS ], COMEXC, [ ER ], ERROR, ERRORP, [ FB ], FGADV, FSHFC,
FSHFD, GO, [ IN ], [ LIM ], [ NMCY ], [ PC ], [ PE ], [ PMAS ],
[ PSHF ], [ PSLV ], T, TAS, TER, TRGFN, WAIT
Use the GOWHEN command to synchronize a motion profile of an axis with a specified position count
(commanded, feedback device, motor, master, follower, Following shift), input status, dwell (time delay),
or master cycle number on that axis. Command processing does not wait for the GOWHEN conditions
(relational expressions) to become true during the GOWHEN command. Rather, the motion from the
subsequent start-motion command (GO, FGADV, FSHFC, and FSHFD) will be suspended until the condition
becomes true.

Start-motion type commands that cannot be synchronized using the GOWHEN command are: HOM, JOG, JOY,
and PRUN. A preset GO command that is already in motion can start a new profile using the GOWHEN and GO
sequence of commands. Continuous moves (MC1) already in progress can change to a new velocity based
upon the GOWHEN and GO sequence. Both preset and continuous moves can be started from rest with the
GOWHEN and GO sequence.
GOWHEN Syntax:
GOWHEN (expression)
Relational Expression Syntax:

(<left operand> <relational operator> <right operand>)
Possible Operators Possible Operators Possible Operators

FB......... Feedback device position >= Numeric variables
LIM....... Limit input state <= (VAR or VARI)
NMCY.....Master cycle number = Decimal constant
PC......... Commanded position > Binary value (b___)
PE......... Encoder position < for the IN and LIM
PMAS.....Master position operators only
PSLC.....Slave position
PSHF.....Following shift
IN......... Input state
T........... Dwell (in miliseconds)
EXAMPLES
GOWHEN (PE>40000) ; suspend next GO until encoder position > 40000
GOWHEN (IN.4=b1) ; suspend next GO until onboard input #4 is activated (b1)
GOWHEN (PMAS>255) ; suspend next GO until the master has
; traveled 255 master distance units
SCALING
If scaling is enabled (SCALE1), the right-hand operand is multiplied by SCLD if the left-
hand operand is FB, PC, PE, PSLV, or PSHF. The right-hand operand is multiplied by the
SCLMAS value if the left-hand operand is PMAS. The SCLD or SCLMAS values used
correlate to the axis specified with the variable (e.g., a GOWHEN expression with PE scales
the encoder position by the SCLD value specified).
GOWHEN Status:
Axis Status — Bit #26: Bit #26 is set when motion has been commanded by a GO, FGADV, FSHFC,
or FSHFD command, but the change in motion is suspended due to a pending GOWHEN condition. This
status bit is cleared when the GOWHEN condition is true or when a stop (!S) or kill (!K or ^K)
command is executed. A GOWHEN command can be cleared using an axis-specific S or K command
(e.g., !S1 or !K1).
AS.26 .....Assignment & comparison operator — use in a conditional expression (see AS).
TASF........Full text description of each status bit. (see “Gowhen is Pending” line item)
TAS ..........Binary report of each status bit (bits 1-32 from left to right). See bit #26.
Axis Status — Bit #29: Bit #29 is set if the input state or position relationship specified in the
GOWHEN command is already true when the subsequent GO, FGADV, FSHFC, or FSHFD command is
issued. To clear this error condition, issue another GOWHEN command; or issue a !K command and
check the program logic (use the TRACE and STEP features if necessary).
AS.29 .....Assignment & comparison operator — use in a conditional expression (see AS).
TASF........Full text description of each status bit. (see “Gowhen error” line item)
TAS ..........Binary report of each status bit (bits 1-32 from left to right). See bit #29.

Error Status — Bit #14: Bit #14 is set if the input state or position relationship specified in the
GOWHEN command is already true when the GO, FGADV, FSHFC, or FSHFD command is issued. The
error status is monitored and reported only if you enable error-checking bit #14 with the ERROR
command (e.g., ERROR.14-1). NOTE: When the error occurs, the drive will branch to the error
program (assigned with the ERRORP command). To clear this error condition, issue another GOWHEN
command; or issue a !K command and check the program logic (use the TRACE and STEP features if
necessary).
ER.14..... Assignment & comparison operator — use in a conditional expression (see AS).
TERF....... Full text description of each status bit. (see “Gowhen condition true” line item)
TER ......... Binary report of each status bit (bits 1-32 from left to right). See bit #14.
GOWHEN . . . on a Trigger Input: Use aTRGFNc1

If you wish motion to be triggered with a trigger input, use the TRGFNc1 command. The TRGFNc1
command executes in the same manner as the GOWHEN command, except that motion is executed
when the specified trigger input (c) is activated. For more information, refer to the TRGFN command
description.
GOWHEN vs. WAIT:

A WAIT will cause program flow to halt (except for execution of immediate commands) until the
condition specified is satisfied. Common uses for this function include delaying subsequent I/O
activation until the master has achieved a required position or an object has been sensed.
By contrast, a GOWHEN will suspend the motion profile until the specified condition is met. It does not
affect program flow. If you wish motion to be triggered with a trigger input, use the TRGFNc1
command. The TRGFNc1 command executes in the same manner as the GOWHEN command, except
that motion is executed when the specified trigger input (c) is activated (see TRGFN command
description for details). In addition, GOWHEN expressions are limited to the operands listed above;
WAIT can use additional operands such as FS (Following status) and VMAS (velocity of master).
Factors Affecting GOWHEN Execution:

If a second GOWHEN command is executed before a start-motion command (GO, FGADV, FSHFC, or
FSHFD), then the first GOWHEN is over-written by the second GOWHEN command. (GOWHEN commands
are not nested.) An error is not generated when a GOWHEN command is over-written by another
GOWHEN.
While waiting for a GOWHEN condition to be met and a start-motion command has been issued, if a
second GOWHEN command is encountered, then the first sequence is disabled and another start-motion
command is needed to re-arm the second GOWHEN sequence.
A new GOWHEN command must be issued for each start-motion command (GO, FGADV, FSHFC, or
FSHFD). That is, once a GOWHEN condition is met and the motion command is executed, subsequent
motion commands will not be affected by the same GOWHEN command.
If the GOWHEN and start-motion commands are issued, the motion profile is delayed until the GOWHEN
condition is met. If a second start-motion command is encountered, the second start-motion command
will override the GOWHEN command and start motion. If this override situation is not desired, it can be
avoided by using a WAIT condition between the first start-motion command and the second start-
motion command.
It is probable that the GOWHEN command, the GO command, and the GOWHEN condition becoming true
may be separated in time, and by other commands. Situations may arise, or commands may be given
which make the GOWHEN invalid or inappropriate. In these cases, the GOWHEN condition is cleared, and
any motion pending the GOWHEN condition becoming true is canceled. These situations include
execution of the JOG, JOY, HOM, PRUN, and DRIVEØ commands, as well motion being stopped due to
hard or soft limits, a drive fault, an immediate stop (!S), or an immediate kill (!K or ^K).

GOWHEN in Compiled Motion: When used in a compiled program, a GOWHEN will pause the profile in
progress (motion continues at constant velocity) until the GOWHEN condition evaluates true. When
executing a compiled Following profile, the GOWHEN is ignored on the reverse Following path (i.e.,
when the master is moving in the opposite direction of that which is specified in the FOLMAS
command). A compiled GOWHEN may require up to 4 segments of compiled memory storage.
Example:
In the example below, the axis must start motion when input 3 becomes active. While input 3 is off, the
program must be monitoring inputs and serving other system requirements, so a WAIT statement cannot be
used; instead, a GOWHEN and GO sequence will delay the profile of the axis.
SCLV25000 ; Set velocity scaling factor
SCLD10000 ; Set distance scaling factor
MC0 ; Set to preset move mode
D20 ; Set distance end-point
V1 ; Set velocity
GOWHEN(IN.3=B1) ; Delay profile. When the expression is true
; (input 3 is active), allow the axis to start motion
GO1 ; Command axis to move. Axis will not start until
; conditions in the GOWHEN statement are true.
; Command processing does not wait, so other system
; functions may be performed.
HALT Terminate Program Execution

Syntax <!>HALT GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also BP, BREAK, C, ELSE, IF, K, NIF, NWHILE, PS, REPEAT, S, T,
UNTIL, WAIT, WHILE
The HALT command terminates program execution when processed. This command allows the user to
terminate command processing at any point in a program. The programmer may want processing to stop
because of an error condition, an input, a variable, or just after a specific motion has been accomplished.
This command is useful when debugging a program.
Example:
GOSUB prog2 ; Gosub to subroutine named prog2
GO1 ; Initiate motion again
IF(IN=b1X0) ; If onboard input 1 is active (1), and input 3 is inactive (0)
HALT ; If condition is true break out of program
ELSE ; Else part of if condition
TPE ; If condition does not come true transfer position of the encoder
NIF ; End If statement
;
; Upon completion of motion, subroutine prog2 is called.
; If inputs 1 and 3 are in the correct state after the motion is complete,
; program processing will be terminated. In other words, all commands waiting
; to be parsed in the program buffer will be eliminated.
; **** Note: There will not be a return to prog1.

HELP Technical Support
Type Program Debug Tool Product Rev
Syntax <!>HELP GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response See description below
See Also None
The (HELP) command provides the telephone numbers for technical support.
HOM Go Home
Type Homing Product Rev
Syntax <a_><!>HOM GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (home in positive direction), 1 (home in negative direction),
or X (do not home)
Default X
Response n/a
See Also [ AS ], HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF, HOMEDG,
HOMV, HOMVF, HOMZ, PSET, TAS, TIN, TLIM
The HOM command instructs the Gem6K drive to search for the home position in the direction specified by the
command. If an end-of-travel limit is activated while searching for the home limit, the drive will reverse
direction and search for home in the opposite direction. However, if a second end-of-travel limit is
encountered, after the change of direction, the homing operation will be aborted.
The status of the homing operation is provided by bit 5 of the axis status register (refer to the TAS or AS
command). When the homing operation is successfully completed, the absolute position register is set to
zero (equivalent to PSETØ).
NOTE
Pause and resume functions are not recommended during the homing operation. A
Pause command or input will pause the homing motion; however, when the subsequent
Resume command or input occurs, motion will resume at the beginning of the homing
motion sequence.
The homing operation has several parameters that determine the homing algorithm:
• Home acceleration (HOMA and HOMAA)
• Home deceleration (HOMAD and HOMADA)
• Home velocity (HOMV)
• Final home velocity (HOMVF)
• Home reference edge (HOMEDG)
• Backup to home (HOMBAC)
• Final home direction (HOMDF)
• Home to encoder Z-channel (HOMZ)
For more information on homing, including sample scenarios, refer to the Homing section of the
Programmer's Guide.

Example:
SCLA25000 ; Set accel. Scaling to 25000 steps/unit/unit;
SCLV25000 ; Set vel. Scaling to 25000 steps/unit;
SCLD1 ; Set distance scaling factor to 1 step/unit
DEL Homrdy ; Delete program called Homrdy
DEF Homrdy ; Begin definition of program called Homrdy
MA0 ; Incremental mode
MC0 ; Preset mode
HOMA10 ; Set home acceleration to 10 units/sec/sec
HOMAD20 ; Set home deceleration to 20 units/sec/sec
HOMBAC1 ; Enable backup to home switch
HOMEDG0 ; Stop on the positive-direction edge of the home switch
HOMDF0 ; Set final home direction to positive
HOMZ0 ; Disable homing to encoder Z-channel
HOMV1 ; Set home velocity to 1 units/sec
HOMVF.1 ; Sets home final velocity to 0.1 units/sec
HOM0 ; Execute go home in positive-direction
END ; End definition of Homrdy
HOMA Home Acceleration

Syntax <a_><!>HOMA<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 10.0000
Response HOMA: *HOMA10.0000
See Also DMEPIT, HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF, HOMEDG,
HOMV, HOMVF, HOMZ, SCALE, SCLA
The HOMA command specifies the acceleration rate to be used upon executing the next go home (HOM)
command.
The homing acceleration remains set until you change it with a subsequent homing acceleration command.
Homing accelerations outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD
x, where x is the field number. When an invalid homing acceleration is entered the previous homing
acceleration value is retained.
If the home deceleration (HOMAD) command has not been entered, the home acceleration (HOMA) command
will set the home deceleration rate. Once the home deceleration (HOMAD) command has been entered, the
home acceleration (HOMA) command no longer affects home deceleration.
Example: Refer to the go home (HOM) command example.

HOMAA Homing Average Acceleration
Syntax <a_><!>HOMAA<r > GT6K 6.0
GV6K 6.0
Range 0, or 0.0001 – 9999.9999
Default 10.00 (Default is a constant accel ramp, where HOMAA tracks
HOMA. S-curve accel is achieved when HOMAA is changed
independent of HOMA. To restore a constant accel ramp and
tracking, set HOMAA = 0.)
Response HOMAA: *HOMAA10.0000
See Also A, AD, ADA, HOM, HOMA, HOMAA, HOMAD, HOMADA, , HOMBAC, SCALE,
SCLA
The HOMAA command allows you to specify the average acceleration for an S-curve homing profile. S-curve
Scaling (SCLA) affects HOMAA the same as it does for HOMA. Refer to page 16 for details on scaling.
Example:
DEL proge ; Delete program called proge
DEF proge ; Begin definition of program called proge
HOMA10 ; Set homing max. accel to 10 rev/sec/sec
HOMAA5 ; Set homing avg. accel to 5 rev/sec/sec
HOMAD10 ; Set homing max. decel to 10 rev/sec/sec
HOMADA5 ; Set homing avg. decel to 5 rev/sec/sec
HOM1 ; Execute a pure S-curve homing move in the negative-direction
HOMAD Home Deceleration

Syntax <a_><!>HOMAD<r> GT6K 6.0
GV6K 6.0
Range 0, or 0.0001 – 9999.9999
Default 10.0000 (by default, HOMAD tracks HOMA until HOMAD is changed
independent of HOMA; to restore tracking, set HOMAD = 0)
Response HOMAD: *HOMAD10.0000
See Also HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMEDG, HOMDF, HOMV,
HOMVF, HOMZ, [ LIM ], LIMEN, LIMLVL, SCALE, SCLA
The HOMAD command specifies the deceleration rate to be used upon executing the next go home (HOM)
command.
The home deceleration remains set until you change it with a subsequent home deceleration command.
Decelerations outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD x,
where x is the field number. When an invalid deceleration is entered the previous deceleration value is
retained.
If the HOMAD command has not been entered, the home acceleration (HOMA) command will set the
deceleration rate. Once the HOMAD command has been entered, the home acceleration (HOMA) command no
longer affects home deceleration. If the HOMAD command is set to zero (HOMADØ), then the homing
deceleration will once again track whatever the HOMA command is set to.

HOMADA Homing Average Deceleration
Syntax <a_><!>HOMADA<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 10.00 (By default, HOMADA tracks HOMAA until HOMADA is changed
independent of HOMAA. To restore tracking, set HOMAD = 0.)
Response HOMADA: *HOMADA10.0000
See Also A, AD, HOM, HOMA, HOMAA, HOMAD, HOMADA???, SCALE, SCLA
The HOMADA command allows you to specify the average deceleration for an S-curve homing profile. S-
curve profiling provides smoother motion control by reducing the rate of change in acceleration and
deceleration; this accel/decel rate of change is known as jerk. Refer to page 15 for details on S-curve
profiling.
Scaling (SCLA) affects HOMADA the same as it does for HOMAD. Refer to page 16 for details on scaling.
Example: Refer to the Homing Average Acceleration (HOMAA) command example.
HOMBAC Home Backup Enable

Syntax <a_><!>HOMBAC GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response HOMBAC: *HOMBAC0
See Also HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMDF, HOMEDG, HOMV, HOMVF,
HOMZ
The HOMBAC command enables or disables the backup to home switch function. When this function is enabled,
the motor will decelerate to a stop after encountering the active edge of the home region, and then move the
motor in the opposite direction at the home final velocity (HOMVF) until the active edge of the home region is
encountered. This motion will occur regardless of whether or not the home input is active at the end of the
deceleration of the initial go home move.
HOMDF Home Final Direction

Syntax <a_><!>HOMDF GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (positive-direction) or 1 (negative-direction)
Default 0
Response HOMDF: *HOMDF0
See Also HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMEDG, HOMV, HOMVF,
HOMZ
The HOMDF command specifies the direction to be traveling when the home algorithm does its final
approach. This command is operational when backup to home (HOMBAC) is enabled, or when homing to an
encoder Z channel (HOMZ).

HOMEDG Home Reference Edge
Syntax <a_><!>HOMEDG GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (positive-direction edge) or 1 (negative-direction edge
Default 0
Response HOMEDG: *HOMEDG0
See Also HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF, HOMV, HOMVF,
HOMZ, INFNC, INLVL
The HOMEDG command specifies which edge of the home switch the homing operation will consider as its
final destination.
As illustrated below, the positive-direction edge of the home switch is defined as the first switch transition
seen by the Gem6K when traveling off of the positive-direction end-of-travel limit in the negative
direction. The negative-direction edge of the home switch is defined as the first switch transition seen by
the Gem6K when traveling off of the negative-direction end-of-travel limit in the positive-direction. This
command is operational when backup to home (HOMBAC) is enabled.
Negative Direction Positive Direction
Edge of Home Edge of Home
Home Switch
Active Region
Negative Direction Positive Direction

End-of-Travel Limit End-of-Travel Limit
HOMV Home Velocity

Syntax <a_><!>HOMV<r> GT6K 6.0
GV6K 6.0
Range Stepper Axes: 0.0000-60.0000 (after conversion to revs/sec)
Servo Axes: 0.0000-200.0000 (after conversion to revs/sec;
if ERES > 10,000, maximum = 2,000,000/ERES)
Default 1.0000
Response HOMV: *HOMV1.0000
See Also DMEPIT, HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF,
HOMEDG, HOMVF, HOMZ, SCALE, SCLV
The HOMV command specifies the velocity to use when the home algorithm begins its initial go home (HOM)
move. The velocity remains set until you change it with a subsequent home velocity command. Velocities
outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD x, where x is the field
number. When an invalid velocity is entered the previous velocity value is retained.

HOMVF Home Final Velocity
Syntax <a_><!>HOMVF<r> GT6K 6.0
GV6K 6.0
(linear motors: see DMEPIT linear/rotary conversion)
Default 0.1000
Response HOMVF: *HOMVF0.1000
See Also DMEPIT, HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF,
HOMEDG, HOMV, HOMZ, SCALE, SCLV
The HOMVF command specifies the velocity to use when the home algorithm does its final approach. This
command is only operational when backup to home (HOMBAC) is enabled, or when homing to an encoder Z
channel (HOMZ).
The velocity remains set until you change it with a subsequent home final velocity command. Velocities
field number. When an invalid velocity is entered, the previous velocity value is retained.
HOMZ Home to Encoder Z-channel Enable

Syntax <a_><!>HOMZ GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response HOMZ: *HOMZ0
See Also [ ASX ], HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF,
HOMEDG, HOMV, HOMVF, INFNC, INLVL, TASX
The HOMZ command enables homing to an encoder z-channel after the initial home input has gone active.
NOTE: The home limit input is required to go active prior to homing to the Z channel. The state of the Z-
channel is reported with bit 6 of the ASX and TASX register.
IF( ) IF Statement
Type Program Flow Control or Conditional Branching Product Rev
Syntax <a_><!>IF(expression) GT6K 6.0
Units n/a
GV6K 6.0
Default n/a
Response n/a
See Also ELSE, NIF
The IF command is used in conjunction with the ELSE and NIF commands to provide conditional
branching. If the expression contained within the parenthesis of the IF command evaluates true, then the
commands between the IF and the NIF are executed. If the expression evaluates false, the commands

between the IF and the NIF are ignored, and command processing continues with the first command
following the NIF.
When the ELSE command is used in conjunction with the IF command, true IF evaluations cause the
commands between the IF and ELSE commands to be executed, and the commands after the ELSE until the
NIF are ignored. False IF evaluations cause commands between the ELSE and the NIF to be executed, and
the commands between the IF and the ELSE are ignored. The ELSE command is optional and does not have
to be included in the IF statement.
The IF( ).. ELSE .. NIF structure can be nested up to 16 levels deep.
NOTE: Be careful about performing a GOTO between IF and NIF. Branching to a different location within
the same program will cause the next IF statement encountered to be nested within the previous
IF statement, unless a NIF command has already been encountered.
IF statement programming order: IF(expression)...commands...NIF

or
IF(expression)...commands...ELSE...commands...NIF
All logical operators (AND, OR, NOT), and all relational operators (=, >, >=, <, <=, <>) can be used within
the IF expression. There is no limit on the number of logical operators, or on the number of relational
operators allowed within a single IF expression. The limiting factor for the IF expression is the command
length. The total character count for the IF command and expression cannot exceed 80 characters.
(e.g., If you add up the letters in the IF command and the letters within the ( ) expression, including the
parenthesis and excluding each space, this count must be less than or equal to 80.)
All assignment operators (A, AD, AS, ASX, D, ER, IN, MOV, OUT, PC, PCE, PCM, PE, PER, PMAS, SEG, SS, TIM,
US, V, VEL, VELA, etc.) can be used within the IF expression.
Multiple parentheses may not be used within the IF command.
Example:
IF(IN=b1X0 AND VAR1=1) ; If input 1 is ON, input 3 is OFF, and
; variable 1 equals 1, then the IF statement evaluates
; true, so commands between this statement and NIF
; are executed
IF(A<5000 AND PC>50000) ; If the acceleration is less than 5000, and
; the commanded position is greater than
; 50000, then do the IF statement. Note: The
; acceleration value used is programmed acceleration,
; not actual.
VAR1=VAR1+1 ; Increment variable 1
IF(VEL<123 OR VEL>156) ; If the current velocity is less than 123
; or if it is greater than 156, then do the commands
; following the IF statement
WRITE"Something's Wrong\13" ; Put message Something's Wrong<cr> in output buffer
IF(OUT=b110X1 AND VAR1<=13) ; If outputs 1, 2 and 5 are ON, output 3 is
; off and variable 1 is less than or equal to 13,
; then set variable 1 equal to variable 1 plus 1,
; else set variable 1 equal to variable 1 minus 1
VAR1=VAR1+1
ELSE
VAR1=VAR1-1

IN Virtual Input Override
Type Inputs Product Rev
Syntax <a_><!>IN<=xx> GT6K 6.0
GV6K 6.0
xx = 32-bit data operand (see list below)
Range B = 1-8
Default n/a
Response n/a
See Also [ IN ], INDEB, INEN, INFNC, INPLC, INSTW, TIN, TIO
The IN command allows you to substitute almost any 32-bit data parameter as a virtual input brick of 32
inputs. The virtual inputs behave similarly to real inputs in that they are affected by INEN and INLVL, and
they affect INFNC, INPLC, INSTW, INDUST, ONIN, and GOWHEN(IN=b<bbbb>) commands. Unlike real
inputs, virtual inputs are not affected by the INDEB debounce setting.
The data operands allowed for virtual input assignments are listed below (integer values are converted to
binary):
A ..............Acceleration NMCY........ Master cycle number SWAP ....... Task swap assignment
AD ............Deceleration OUT.......... Output status TASK ....... Task number
ANI ..........Analog input voltage PC............ Commanded position TIM ......... Timer value
ANO ..........Analog output voltage PCC.......... Captured command pos. TRIG ....... Trigger interrupt status
AS ............Axis status PCE.......... Captured encoder pos. US ........... User-defined status
ASX ..........Extended axis status PCME........ Captured master enc. pos. V.............. Velocity
D ..............Distance PE............ Encoder position VARI ....... Integer variable
DKEY........RP240 keypad value PER.......... Position error VARB ....... Binary variable
ER ............Error status PMAS........ Position of Master VEL ......... Commanded velocity
FB ............Feedback device pos. PME.......... Master encoder pos. VELA ....... Actual velocity
FS ............Following status PSHF........ Net position shift VMAS ....... Velocity of the master
IN ............Input status PSLV........ Follower pos. command
INO ..........Enable input status SC............ Controller status
LIM ..........Limit input status SCAN........ PLC scan time
MOV ..........Axis moving status SEG.......... Free segment buffers
SS............ System status
NOTE: A virtual input can only be defined for I/O bricks that are not connected on the serial I/O network
(remember that up to 8 I/O bricks are allowed). For example, if your Gem6K unit has two I/O bricks, you
can designate I/O bricks 3-8 as virtual I/O bricks.
Virtual inputs provide programming input functionality for data or external events (see operand list above)
that are not ordinarily represented by inputs.
For example, suppose a PLC is sending binary data via the VARB1 command to the Gem6K. If the
binary state of VARB1 is assigned to input brick 2 (2IN=VARB1), the Gem6K can respond based on
programmable input functions set up with the INFNC command.
2TIN ; Brick 2 is not connected; therefore, the Gem6K will
; respond with an error message: "*INCORRECT I/O BRICK"
2IN=VARB1 ; Map the binary state of VARB1 to be the
; input state of "virtual" input brick 2 (2IN)
VARB1=b10100000 ; Change "virtual" input brick 2IN to a new VARB1 value
2TIN ; Check the input status. The response will be:
; "*2IN1010_0000_0000_0000_0000_0000_0000_0000"

[ IN ] Input Status
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also GOWHEN, IN, INFNC, [ LIM ], ONIN, TIN, VARB
Use the IN operator to assign the input value to a binary variable (VARB), or to make a comparison against a
binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be
placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make
a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the value. The
hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.
Syntax: VARBn=IN where “n” is the binary variable number and “” is the number of the I/O brick
where the input resides (not required if addressing inputs on the Gem6K’s DRIVE I/O connector),
or IN can be used in an expression such as IF(2IN=b11Ø1), or IF(2IN=h7F). To assign only
one input value to a binary variable, instead of all the inputs, the bit select (.) operator can be
used. For example, VARB1=2IN.10 assigns the binary state of input 10 (2nd pin on SIM 2) on I/O
brick 2 to binary variable 1.
The function of the inputs is established with the INFNC command (although the IN operator looks at any
trigger or external digital input, regardless of its assigned function from the INFNC command).
Example:
VARB1=3IN ; Input status on I/O brick 3 assigned to binary variable 1
VARB2=2IN.12 ; Input bit 12 on I/O brick 2 assigned to binary variable 2
IF(1IN=b111011X11) ; If the input status contains 1's for inputs 1,2,3,5,6,8,& 9,
; and 0 for input 4 on I/O brick 1, do the commands
; following the IF statement
IF(2IN=hEF00) ; If the input status contains 1's for I/O brick 2's inputs
; 1,2,3,5,6,7,& 8, and 0's for every other input, do the
; commands following the IF statement

INDEB Input Debounce Time
Type Input Product Rev
Syntax <a_><!>INDEB GT6K 6.0
Units i = time in milliseconds (ms)
GV6K 6.0
Range i = 2-250
Default 4
Response INDEB: *INDEB4
See Also INFNC, INLVL, LIMFNC, RE, REG, TIN, TLIM, TRGFN, TRGLOT
The INDEB command governs the debounce time for the onboard inputs on the DRIVE I/O connector, or inputs
on a specified I/O brick. The debounce time is the period of time that the input must be held in a certain state
before the drive recognizes it. This directly affects the rate at which the inputs can change state and be
recognized. The default setting is 4 ms.
Exception for Trigger Inputs: For inputs that are assigned the “Trigger Interrupt” function (INFNCi-H),
the debounce is instead governed by the TRGLOT setting. The TRGLOT setting applies to all inputs defined
as “Trigger Interrupt” inputs. The TRGLOT debounce time is the time required between a trigger's initial
active transition and its secondary active transition. This allows rapid recognition of a trigger, but prevents
subsequent bouncing of the input from causing a false position capture. The default setting is 24 ms.
Limit Inputs. The limit inputs found on the DRIVE I/O connector are not normally debounced; however, if a
limit is assigned a different function with the LIMFNC command (other than LIMFNCi-R, LIMFNCi-S, or
LIMFNCi-T), the input is debounced using the INDEB setting for the onboard inputs. If a general-purpose
input is assigned a limit input function (INFNCi-R, INFNCi-S, or INFNCi-T), the input will not be
debounced.
Example:
INDEB6 ; Assign all onboard inputs a debounce time of 6 ms (inputs
; assigned as triggers with INFNCi-H will not be debounced)
2INDEB10 ; Assign inputs on I/O brick 2 a debounce time of 10 ms
1INDEB12 ; Assign inputs on I/O brick 1 a debounce time of 12 ms
INDUSE Enable/Disable User Status

Syntax <a_><!>INDUSE GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response INDUSE: *INDUSE0
See Also INDUST, ONUS, TUS, [ US ]
The INDUSE command enables the INDUST command updates. When this command is not enabled, the user
status bits (INDUST) can be defined; however, they will not be updated in the US or the TUS commands
until INDUSE is enabled.
Example:
INDUSE1 ; Enable user status

INDUST User Status Definition
Syntax <a_><!>INDUST<-<c>> GT6K 6.0
Units See description below
GV6K 6.0
Range 1st i = 1 - 16; 2nd i = 1 - 32; c = A through S
Default See description below
Response INDUST: *INDUST1-1A AXIS 1 STATUS - STATUS OFF
(...repeated for all 16 user status bits...)
*INDUST16-16A AXIS 1 STATUS - STATUS OFF
INDUST1: *INDUST1-1A AXIS 1 STATUS - STATUS OFF
See Also [ AS ], [ ASX ], [ IN ], INDUSE, ONUS, [ SS ], TAS, TASX, TIN,
TSS, TUS, [ US ]
The INDUST command establishes the user status bit function. Each bit can correspond to an axis status bit,
a system status bit, an input, an interrupt bit, or an extended axis status bit. The default for each user status
bit is as follows:
Default for the Gem6K product (first two AS status bits):
Bits 1-16 = first 16 bits of axis status (AS)
The purpose of this command is to allow the user to create his or her own meaningful status word. It allows
the user to place certain status information in the order they prefer.
The syntax INDUST<-<c>> is described as follows:
• First corresponds to the user status bit being defined (16 maximum).
• Second corresponds to the bit of the axis status (AS), the system status (SS), the input status (IN),
or the extended axis status (ASX).
• The <c> defines what status to use:
<c> Value Function <c> Value Function
A Use axis status (AS) K RESERVED
B - H RESERVED L Use extended axis status (ASX)
I Use system status (SS) * M - S RESERVED
J Use input status (IN) **
* If you are using multitasking, the “I” value requires you to prefix the INDUST command with the task
identifier (e.g., 2%INDUST6-2I assigns system status bit 2 for task 2 to user status bit 6). If no task prefix is
given, the system status for task zero is used by default.
** The “J” value requires you to prefix the INDUST command with the I/O brick identifier (e.g., 2INDUST14-4J
assigns the status of I/O point on I/O brick 2 to user status bit 14). If no brick prefix is given, the onboard
inputs are referenced by default. Refer to page 8 to fully understand the I/O bit patterns and use of the brick
identifier.
Example
INDUST1-5A ; User status bit 1 defined as axis status bit 5
3INDUST3-5J ; User status bit 3 defined as input 5 on I/O brick 3
2%INDUST16-2I ; User status bit 16 defined as system status bit 2 for task 2

INEN Input Enable
Type Input or Program Debug Tool Product Rev
Syntax <a_><!><@>INEN<d><d>...<d> (one <d> for each input) GT6K 6.0
Units n/a
GV6K 6.0
Range d = 0 (disable, leave off), 1 (disable, leave on),
E (enable), or X (don't change)
Default E
Response INEN: *INENEEEE_E
1INEN: *1INENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE
1INEN.3 *E
See Also ERROR, IN, [ IN ], INFNC, INLVL, INPLC, INSTW, KIOEN, LH,
LIMEN, TIN, TIO, TSTAT
The INEN command allows you to simulate the activation of specific general-purpose inputs or external digital
inputs (without actually wiring the inputs) by disabling them and setting them to a specific level (ON or OFF).
The default INEN condition is enabled (E), requiring external wiring to exercise the input’s respective
INFNC function.
Using Inputs on Expansion I/O Bricks: If the I/O brick is disconnected or if it loses power, the drive will
perform a kill (all tasks) and set error bit #18 (see ERROR). (If you disable the “Kill on I/O Disconnect”
mode with KIOENØ, the Gem6K will not perform the kill.) The drive will remember the brick configuration
(volatile memory) in effect at the time the disconnection occurred. When you reconnect the I/O brick, the
drive checks to see if anything changed (SIM by SIM) from the state when it was disconnected. If an
existing SIM slot is changed (different SIM, vacant SIM slot, or jumper setting), the drive will set the SIM
to factory default INEN and OUTLVL settings. If a new SIM is installed where there was none before, the
new SIM is auto-configured to factory defaults.
Example: INEN1 disables input 1 but leaves it in the ON state (the TIN command will show input 1 as active).
INENØ disables input 1 but leaves it in the OFF (inactive) state. To re-enable input 1, issue the INENE command.
INEN has no effect on …

• Inputs when they are configured as “trigger interrupt” inputs with the INFNCi-H command. This
includes position capture and registration functions.
• Inputs configured as “end-of-travel limit” inputs with the INFNCi-R or INFNCi-S commands.
Instead, use the LH command.
Input bit assignments for the INEN command vary by external I/O brick configuration. The input bit patterns for
general-purpose inputs and external I/O bricks are explained on page 8 of this document.
Example:
DEF tester ; Begin definition of program tester
WHILE(IN=b11X10) ; While inputs 1, 2, and 4 are active, and input 5 is not
; active, execute the statements between the WHILE & NWHILE
NWHILE ; End WHILE statement
END ; End definition of program tester
INEN11X10 ; Disable inputs 1,2,4, & 5, and set inputs 1, 2 & 4 in
; the active state, and input 5 in the inactive state
RUN tester ; Initiate program tester
!INEN00000 ; Disable onboard inputs 1,2,3,4, & 5, and leave them in the
; inactive state
INENeeeee ; Re-enable inputs 1 through 5

INFNC Input Function
Syntax <a_><!>INFNC-<<a>c> GT6K 6.0
Units i = input #,
GV6K 6.0
a = program # for function P;
c = function identifier letter
Range i = 1-32 (I/O brick dependent — see page 8);
c = A-T
Default All inputs set to A (general-purpose)
Response INFNC: (input function and status of general-purpose inputs)
1INFNC: (input function and status of I/O brick 1 inputs)
1INFNC1: *1INFNC1-A NO FUNCTION - STATUS OFF
See Also COMEXR, COMEXS, ENCCNT, [ ER ], ERROR, [ IN ], INDEB, INEN,
INLVL, INPLC, INSELP, INSTW, INTHW, JOY, JOYAXH, JOYVH, JOYVL,
K, KDRIVE, LH, LIMFNC, PSET, [ SS ], TER, TIN, TIO, TRGFN,
TRGLOT, [ TRIG ], TSS, TSTAT, TTRIG
The INFNC command defines the function of each individual input, where i is the input bit number, or the
program number for the case of input function P, and c is the function. A limit of 32 inputs may be
assigned INFNC functions; this excludes functions A (“general-purpose”) and H (“trigger interrupt”).
Input Debounce. Using the Input Debounce Time (INDEB) command, you can change the input debounce
time for all general-purpose inputs. The debounce is the period of time that the input must be held in a
certain state before the Gem6K recognizes it. This directly affects the rate at which the inputs can change
state and be recognized. Inputs that are assigned the “Trigger Interrupt” function (INFNCi-H), are instead
debounced by the TRGLOT value. Inputs defined as limit inputs (INFNCi-R, INFNCi-S, or INFNCi-T), will
not be debounced.
Input bit assignments vary. The input bit patterns for onboard and external I/O bricks are explained on
page 8 of this document.
Input Scan Rate. The programmable inputs are scanned once per system update (2 milliseconds).
Multitasking. If the INFNC command does not include the task identifier (%) prefix, the function affects the
task that executes the INFNC command. The functions that may be directed to a task with % are: C, D, E, F,
and P (e.g., 2%INFNC3-F assigns onboard input 3 as a user fault input for task 2). Multiple tasks may share
the same input, but the input may only be assigned one function.
Identifier Function Description
A General Purpose Input. Normal input, used with the IN assignment
B BCD Program Select. BCD input assignment to programs, lowest numbered input is least
significant bit (LSB). BCD values for inputs are as follows:
BCD Value
Least Significant Bit Value 1
. 2
. 4
. 8
. 10
. 20
. 40
. 80
Most Significant Bit Value 100
Note: If fewer inputs than shown above are defined to be Program Select Inputs, then
the highest input number defined as a Program Select Input is the most significant bit.
An input defined as a BCD Program Select Input will not function until the INSELP command has
been enabled.

C Kill. Kills motion and halts all command processing (refer to K and KDRIVE command
descriptions for further details on the kill function). This is an edge detection function and is not
intended to inhibit motion. To inhibit motion, use the Pause/Resume function (INFNCi-E). When
enabled with the ERROR command, bit #6 of the TER and ER commands will report the kill status.
D Stop. Stops motion. If COMEXS is set to zero (COMEXSØ), program execution will be terminated. If
COMEXS is set to 1 (COMEXS1), command processing will continue. With COMEXS set to 2
(COMEXS2), program execution is terminated, but the INSELP value is retained. Motion
deceleration during the stop is controlled by the AD & ADA commands. If error bit #8 is enabled
(e.g., ERROR.8-1), activating a Stop input will set the error bit and cause a branch to the ERRORP
program. Activating a Stop input does not return a prompt to the terminal.
E Pause/Continue. If COMEXR is disabled (COMEXRØ), then only command execution pauses, not
motion. With COMEXR enabled (COMEXR1), both command and motion execution are paused.
After motion stops, you can release the input or issue a continue (!C) command to resume
command processing (and motion in COMEXR1 mode).
F User Fault. Refer to the ERROR command. If error bit #7 is enabled (e.g., ERROR.7-1),
activating a User Fault input will set the error bit and cause a branch to the ERRORP program.
CAUTION: Activating the user fault input sends a !K command to the drive, “killing” motion (refer
to the K command description for ramifications).
G Reserved
H Trigger Interrupt - This function can only be assigned to the general-purpose inputs on the
DRIVE I/O connector, as specified below:
Input # Pin # GT6K & GV6K Function (INFNC default )
1 37 INFNC1-A (General-purpose. If assigned, TRG-A must be on Input #1)
2 38 INFNC2-A (General-purpose. If assigned, TRG-B must be on Input #2)
3 39 INFNC3-A (General-purpose)
5 35 INFNC5-A (General-purpose. If assigned, MASTER TRIGGER must
be on Input #5)
A “Trigger Interrupt” input can be used for these purposes:

• Position Capture. You can assign up to two trigger inputs, referred to as “TRIG-A” and “TRIG-
B. If assigned, TRIG-A must be on onboard input #1 (pin 37). TRIG-B must be on onboard
input #2 (pin 38). These inputs are located on the 25-pin DRIVE I/O connector. To assign
TRIG-A and TRIG-B, use the INFNC1-H and INFNC2-H commands, respectively.
When assigned the Trigger Interrupt function, activating the input performs a hardware capture
of axis position. If the axis is used as a follower in Following, activating the trigger also
performs an interpolated capture of the associated master axis position.
You can assign an additional “Master Trigger”, referred to as “TRIG-M”. If assigned, TRIG-M
must be on onboard input #5 (pin 35). TRIG-M may be used to perform a hardware capture of
the “MASTER ENCODER” (the encoder connected to the “Master Encoder” connector), as
well as axis position (encoder position on servo axes; commanded or encoder position for
steppers, depending on the ENCCNT setting). To assign trigger interrupt input TRIG-M to input
#5, use the INFNC5-H command.
When a Trigger Interrupt input is activated, the drive captures the relevant positions and stores
them in registers that are available at the next system update (2 ms) through the use of these
transfer and assignment/comparison commands:
Captured Information Transfer Assignment/Comparison Offset * Scale Factor **
Commanded position TPCC PCC PSET SCLD
Encoder position TPCE PCE PSET or PESET SCLD
Master encoder position TPCME PCME PMESET SCLMAS
Master cycle position TPCMS PCMS PSET SCLMAS
* Captured values are offset by any existing PSET or PMESET offset.
** If scaling is enabled, the captured position is scaled by SCLD or SCLMAS.
More about Trigger Interrupt function on next page …

H (con’t.) Continued from previous page (Trigger Interrupt function):
NOTES ABOUT POSITION CAPTURE:

- Hardware Capture: The encoder position is captured within ± 1 encoder count. The
commanded position capture accuracy is ± 1 count.
- Interpolated Capture: There is a time delay of up to 50 µs between activating the trigger
interrupt input and capturing the position; therefore, the accuracy of the captured position
is equal to 50 µs multiplied by the velocity of the axis at the time the input was activated.
- Servo vs. Stepper. The nature of the axis position captured with a Trigger Interrupt input
may be different, depending on whether the drive is a servo (GV6K) or stepper GT6K. For
servo axes, both the commanded and encoder position for the axis are captured. For
stepper axes, if the ENCCNT command is set to ENCCNT0 (default condition), only the
commanded position is captured. If ENCCNT1 mode is enabled, only the encoder position
is captured.
• Registration. (see RE description for details)
• Special trigger functions defined with the TRGFN command (see TRGFN for details).
NOTES ABOUT TRIGGER INTERRUPT INPUTS:
- When an input is assigned the "Trigger Interrupt" function, the debounce is governed by the
TRGLOT command setting (default is 24 ms). The TRGLOT setting overrides the existing
INDEB setting for only the inputs that are assigned the “Trigger Interrupt” function.
- When an input is assigned the "Trigger Interrupt" function, the input cannot be affected by
the input enable (INEN) command.
- Trigger Interrupt Status: Use the TTRIG and TRIG commands to ascertain if a trigger
interrupt input has been activated. TTRIG displays the status as a binary report, and TRIG is
an assignment/comparison operator for using the status information in a conditional
expression (e.g., in an IF statement). The TTRIG/TRIG bits are cleared when the respective
captured position is read (see table above).
I Alarm Event - Will cause the Gem6K drive to set an Alarm Event in the Communications Server
over the Ethernet interface. You must first enable the Alarm checking bit for this input-driven
alarm (INTHW.23-1). For details on using alarms, refer to the Programmer’s Guide.
J JOG positive-direction - Will jog the axis in a positive direction. The JOG command must be
enabled for this function to work.
K JOG negative-direction. Will jog the axis in a negative direction. The JOG command must be
L JOG Speed Select. Selects the high or low velocity range while jogging. If the input is active, the
high jog velocity range will be selected.
M Joystick Release. Signals the drive to end joystick operation and resume program execution
with the next statement in your program. When the input is open (high), the joystick mode is
disabled (joystick mode can be enabled only if the input is closed, and only with the JOY
command). When the input is closed (low), joystick mode can be enabled with the JOY command.
The process of using Joystick mode is:
1. Assign the "Joystick Release" input function to a programmable input.
2. At the appropriate place in the program, enable joystick control of motion (with the JOY
command). (Joystick mode cannot be enabled unless the "Joystick Release" input is closed.)
When the JOY command enables joystick mode, program execution stops (assuming the
Continuous Command Execution Mode is disabled with the COMEXCØ command).
3. Use the joystick to move the axis as required.
4. When you are finished using the joystick, open the "Joystick Release" input to disable the
joystick mode. This allows program execution to resume with the next statement after the initial
JOY command that started the joystick mode.
N Reserved

O Joystick Velocity Select. Allows you to select the velocity for joystick motion. The JOYVH and
JOYVL commands establish two joystick velocities. Opening the Velocity Select input (input is
high) selects the JOYVH configuration. Closing the Velocity Select input (input is low) selects the
JOYVL configuration. The JOYVL velocity could be used to quickly move to a location, the JOYVH
velocity could be used for low-speed accurate positioning. NOTE: When this input is not
connected, joystick motion always uses the JOYVH velocity setting.
aP Program Select. One to one correspondence for input vs. program number. The program
number comes from the TDIR command. The number specified before the program name is the
number to specify within this input definition. For example, in the 2INFNC1-3P command, 3 is the
program number. An input defined as a Program Select Input will not function until the INSELP
command has been enabled.
Q Program Security. Issuing the INFNCi-Q command enables the Program Security feature and
assigns the Program Access function to the specified programmable input.
The program security feature denies you access to the DEF, DEL, ERASE, MEMORY,INFNC and
LIMFNC commands until you activate the program access input. Being denied access to these
commands effectively restricts altering the user memory allocation. If you try to use these
commands when program security is active (program access input is not activated), you will
receive the error message *ACCESS DENIED. The INFNCi-Q command is not saved in battery-
backed RAM, so you may want to put it in the start-up program (STARTP).
th
For example, once you issue the 3INFNC12-Q command, the input on the 4 pin on SIM2 (I/O
point 12) of I/O brick 3 is assigned the program access function and access to the DEF, DEL,
ERASE, MEMORY, INFNC, and LIMFNC commands will be denied until you activate the input.
To regain access to these commands without the use of the program access input, you must
issue the INEN command to disable the program security input, make the required user memory
changes, and then issue the INEN command to re-enable the input. For example, if input 3 on
brick 2 is assigned as the Program Security input, use 2INEN.3=1 to disable the input and leave
it activated, make the necessary user memory changes, and then use 2INEN.3=E to re-enable
the input.
R End-of-Travel Limit, Positive Direction. This assigns the positive direction end-of-travel limit
input function. For example, INFNC1-R assigns the "Positive EOT limit" function to general-
purpose input #1. “Positive direction” correlates to motion in the positive-counting direction as
reported with TPE and TPC. REMEMBER: Once an input is assigned a limit function, it is no
longer debounced (INDEB has no effect), and it must be enabled/disabled with the LH command
instead of the INEN command.
S End-of-Travel Limit, Negative Direction. This assigns the negative direction end-of-travel limit
input function. For example, INFNC2-S assigns the "Negative EOT limit" function to general-
purpose input #2. “Negative direction” correlates to motion in the negative-counting direction as
reported with TPE and TPC. REMEMBER: Once an input is assigned a limit function, it is no
longer debounced (INDEB has no effect), and it must be enabled/disabled with the LH command
instead of the INEN command.
T Home Limit. This assigns the home limit input function. For example, INFNC3-T assigns the
"Home limit" function to general-purpose input #3. REMEMBER: Once an input is assigned a limit
function, it is no longer debounced. For more information on homing, refer to the HOM command
and the Homing section in the Programmer’s Guide.
Example:
3INFNC1-D ; Input at I/O point #1 on brick 3 is defined to be a stop input

INLVL Input Active Level
Syntax <a_><!><@>INLVL...<b GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (active low), 1 (active high, or X (don’t change))
Default 0
Response INLVL: *INLVL0000_0
1INLVL: *1INLVL0000_0000_0000_0000_0000_0000_0000_0000
1INLVL.3: *0 (active low)
See Also INDEB, INEN, INFNC, INPLC, INSTW, TIN, TIO
The INLVL command defines the active state of the general-purpose inputs on the DRIVE I/O connector, and on
external I/O bricks. Example: INLVL11000 sets the active level for onboard inputs 1 & 2 to active high, all other
onboard inputs are set to active low.
INLVL bit assignments for inputs on the DRIVE I/O connector (bits are numbered 1-5 from left to right):
be on Input #5)
INLVLbbbb_b
Active Level Relationships (inputs on the DRIVE I/O connector):

Active Level Sinking/Sourcing * Switch TIN and IN status
INLVL0 (active low) Sourcing Closed (connected to ground) 1
INLVL0 (active low) Sourcing Open 0
INLVL1 (active high) Sourcing Closed (connected to ground) 0
INLVL1 (active high) Sourcing Open 1
INLVL0 (active low) Sinking Closed (connected to +V) 0
INLVL0 (active low) Sinking Open 1
INLVL1 (active high) Sinking Closed (connected to +V) 1
INLVL1 (active high) Sinking Open 0
* The inputs are factory configured to source current. If you wish the inputs to sink current, connect the pull-up
terminals (pins 27 and 33) on the DRIVE I/O connector to ground (see the Hardware Installation Guide for wiring
instructions). Pin 27 is the pull up for limit inputs 1-3, and pin 33 is the pull up for general-purpose inputs 1-5.
Active Level Relationships (external SIM8-IN-EVM32 inputs on an EVM32 I/O brick):

Active Level * Jumper Selection * Switch Voltage at Input LED IN/TIN/TIO Report
INLVL0 (active low) Position 3 (sourcing) Open ≥ 2/3 of V+ On 0
INLVL0 (active low) Position 3 (sourcing) Closed < 1/3 of V+ Off 1
INLVL1 (active high) Position 3 (sourcing) Open ≥ 2/3 of V+ On 1
INLVL1 (active high) Position 3 (sourcing) Closed < 1/3 of V+ Off 0
INLVL0 (active low) Position 1 (sinking) Open < 1/3 of V+ Off 1
INLVL0 (active low) Position 1 (sinking) Closed ≥ 2/3 of V+ On 0
INLVL1 (active high) Position 1 (sinking) Open < 1/3 of V+ Off 0
INLVL1 (active high) Position 1 (sinking) Closed ≥ 2/3 of V+ On 1
* Factory default: INLVL0 (active low) and jumper in position 3 (sourcing). Move jumper to position 1 for sinking.
Example:
2INLVL0101 ; Set active level for these inputs on I/O brick 2:
; inputs 1 & 3 are active low, inputs 2 & 4 are active high.

[ INO ] Other Input Status
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ IN ], [ LIM ], TINO, TINOF
Use the INO command to assign an other input value to a binary variable, or to make a comparison against a
Syntax: VARBn=INO where n is the binary variable number
or [ INO ] can be used in an expression such as IF(INO=b11Ø1), or IF(INO=hØ2)
There are 8 other inputs available for assignment or comparison. To assign only one bit (one specific input)
value to a binary variable, instead of all 8, use the bit select (.) operator . For example, VARB1=INO.6
assigns the status of the ENABLE input to binary variable 1.
Format for binary assignment: 0000_0000
Bit #1 Bit #8
Bit Function Location

1-5 RESERVED
6 Enable input (1 = OK for motion) DRIVE I/O connector
7-8 RESERVED
Example:
VARB2=INO.6 ; ENABLE input status assigned to binary variable 2
VARB2 ; Response if bit 6 is set to 1: *VARB2=XXXX_X1XX
IF(INO.6=b1) ; If ENABLE input status is 1 (OK for motion), do the commands
; following the IF statement until the NIF statement
INPLC Establish PLC Data Inputs

Syntax <a_><!>INPLC,<i-i>,, GT6K 6.0
Units See below
GV6K 6.0
Range See below
Default 1,0—0,0,0
Response INPLC1: *INPLC1,0-0,0,0
1INPLC1: *1
See Also INEN, INFNC, INLVL, INSTW, OUTPLC, [ TW ]
The INPLC command, in combination with the OUTPLC command, configures the inputs and outputs to read
data from a parallel I/O device such as a PLC (Programmable Logic Controller), or a passive thumbwheel
module. The actual data transfer occurs with the TW command. Refer to the TW command for a description
of the data transfer process.

The INPLC command has four fields (,<i-i>,,):
Data Field Description
Field 1: Set #: There are 4 possible INPLC sets (1-4). This field identifies which set to use.
Field 2: <i-i> Input #s: Data is read into the Gem6K through programmable inputs on expansion I/O
bricks. This field identifies the inputs to be used with the TW command. The first number is
the first input, and the second number is the last input. The inputs must be consecutive. The
number of inputs should be 8, because two BCD digits are read per data strobe. You must
use inputs on an expansion I/O brick. Refer to page 8 for help in identifying which input bits
are available to place in this field.
Field 3: Sign Input #: This field identifies which input is designated to provide sign information. A
zero specified in the command field specifies no sign information. An active signal on the
input designated as the sign input indicates a negative data entry.
Field 4: Data Valid Input #: This field identifies which input is designated to be the data valid
handshake input. A zero in this field indicates that there will be no data valid handshake
input used. When an input is specified as a data valid, the input must be active in order for
data to be read. If the input is not active, data will not be read until the signal becomes
active.
To disable a specific PLC set, enter INPLCn,Ø-Ø,Ø,Ø where n is the PLC set (1-4).
Example:
1INPLC2,1-8,9,10 ; Set INPLC set 2 as BCD digits on inputs 1-8 on I/O brick 1,
; with input 9 as the sign bit, and input 10 as the data valid
1OUTPLC2,1-4,5,50 ; Set OUTPLC set 2 as output strobes on outputs 1-4 on I/O
; brick 1, with output 5 as the output enable bit, and
; strobe time of 50 milliseconds
A(TW6) ; Read data into acceleration using INPLC set 2 and
; OUTPLC set 2 as the data configuration
INSELP Select Program Enable

Syntax <a_><!>INSELP, GT6K 6.0
Units See below
GV6K 6.0
Range 1st i = 0, 1, or 2; 2nd i = 0 – 5000
Default 0,0
Response INSELP: *INSELP0,0
See Also COMEXS, INEN, INFNC, INLVL, INPLC, INSTW, [ SS ], TDIR, TSS
The INSELP command enables program selection by inputs. In addition, the command establishes the strobe
time for the inputs, and whether programs are selected on a one-to-one basis (INFNCi-iP) or on a BCD
basis (INFNCi-B). When programs are selected on a one-to-one basis, each input defined with the INFNCi-
iP command will run a specific program upon activation. When programs are selected by BCD values, each
input defined by the INFNCi-B command will contribute to the BCD value, which corresponds to the
program number. The program number is derived from the order in which the programs were defined (DEF).
The first program defined is program #1, the second defined is program #2, etc. To verify which program
number corresponds to each program, use the TDIR command. The number in front of the program name is
the program number.
First i = Enable or disable function (Ø = Disable, 1 and 2 = Enable). Use INFNCi-B inputs if i = 1;
use INFNCi-iP inputs if i = 2, to select program.
Second i = Strobe Time in milliseconds for inputs used to select program. The input must be active at the
end of the strobe time for it to be recognized as a valid selection. The inputs are scanned once
per system update (2 milliseconds).

The Kill (!K) command releases this mode, in addition to INSELPØ. The Stop (!S) command or an input
defined as a stop input (INFNCi-D) will also release this mode, as long as COMEXS has been disabled.
Example:
2INFNC1-1P ; Input #1 on I/O brick 2 defined to select program #1
INSELP2,50 ; Enable continuous scan of inputs to select a program to run
INSTW Establish Thumbwheel Data Inputs

Syntax <a_><!>INSTW,<i-i>, GT6K 6.0
Units See below
GV6K 6.0
Range See below
Default 1,0—0,0
Response INSTW1: *INSTW1,0-0,0
1INSTW1: *1INSTW1,0-0,0
See Also INEN, INFNC, INLVL, INPLC, OUTTW, [ SS ], TSS, [ TW ]
The INSTW command, in combination with the OUTTW command, configures the inputs and outputs to read
data from an active thumbwheel device. The actual data transfer occurs with the TW command. Refer to the
TW command for a description of the data transfer process.
The INSTW command has three fields (,<i-i>,):

Field 1: Set #: There are 4 possible INSTW sets (1-4). This field identifies which set to use.
Field 2: <i-i> Input #s: Data is read into the Gem6K through the programmable inputs. This field identifies the
inputs to be used with the TW command. The first number is the first input, and the second number is
the last input. The inputs must be consecutive. The number of inputs should be compatible to the
thumbwheel device. Refer to page 8 for help in identifying which input bits are available to place in
this field.
Field 3: Sign Input #: This field identifies which input is designated to provide sign information. A zero
specified in the command field specifies no sign information. An active signal on the input designated
as the sign input indicates a negative data entry.
To disable a specific thumbwheel set, enter INSTWn,Ø-Ø,Ø where n is the thumbwheel set (1-4).
Example:
3INSTW2,1-4,5 ; Set INSTW set 2 as BCD digits on inputs 1-4 on I/O brick 3,
; with input 5 as the sign bit
2OUTTW2,1-3,4,50 ; Set OUTTW set 2 as output strobes on outputs 1-3 on I/O
; brick 2, with output 4 as the output enable bit, and
A(TW2) ; Read data into acceleration using INSTW set 2
; and OUTTW set 2 as the data configuration
INTHW Check for Alarm Events

Type Alarm Event Product Rev
Syntax <a_><!>INTHW... (one b for each of 32 interrupts) GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response INTHW: *INTHW0000_0000_0000_0000_0000_0000_0000_0000
See Also [ ER ], INFNC, INTSW, LIMFNC, TER, TIMINT
Use the INTHW command to determine which conditions will cause an alarm event in the Gem6K
Communications Server (this requires an Ethernet interface to the Gem6K). The alarm bit in the Gem6K is
cleared as soon as the alarm occurs, but the status of the alarm remains available, through the

Communications Server, to be checked by client applications. For details on using alarms, refer to the
The table below lists the potential alarm conditions. Any number of the conditions may be enabled.
Format for INTHW: bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb
Bit #1 Bit #32
To enable a specific interrupt, place a 1 in the corresponding bit location (b) in the INTHWbb....bbb
command. To disable a specific interrupt bit, place a Ø in the corresponding bit location.
NOTE: A specific interrupt bit can also be enabled by specifying the bit and the state of the bit
(Ø = Disable, 1 = Enable). For example, the command INTHW.25-1 enables bit 25, whereas
INTHW.25-Ø disables bit 25.
Bit # Function * Bit # Function

1 Software (forced) Alarm #1 17 Reserved
3 Software (forced) Alarm #3 19 Limit Hit - hard or soft limit
4 Software (forced) Alarm #4 20 Stall Detected (stepper) or Position Error (servo)
5 Software (forced) Alarm #5 21 Timer (TIMINT)
6 Software (forced) Alarm #6 22 Ethernet Failure - caused by RESET or by ER.22 condition
7 Software (forced) Alarm #7 (also causes the COM6SRVR to display an alert dialog)
8 Software (forced) Alarm #8 23 Input - any of the inputs defined by INFNCi-I
9 Software (forced) Alarm #9 24 Command Error
10 Software (forced) Alarm #10 25 Motion Complete
13 Command Buffer Full 28 Reserved
14 ENABLE input Activated 29 Reserved
15 Program Complete 30 Reserved
16 Drive Fault 31 Reserved
32 Reserved
* Bits 1-12: software alarms are forced with the INTSW command.
INTSW Force an Alarm Event

Type Alarm Event Product Rev
Syntax <a_><!>INTSW GT6K 6.0
Units i = alarm event condition # (see list in INTHW)
GV6K 6.0
Range i = 1-12
Default n/a
Response n/a
See Also INTHW
This command forces a specific alarm event. The alarm events are available in the Communications Server
(over the Ethernet interface), and a client application can read the Communications Server’s “fast status”
(alarm event) register to ascertain when certain conditions have occurred. 12 different software alarms are
available (see table in INTHW command description). By forcing an alarm condition, you can customize the
program to generate specific alarms at predefined places in your program.
The specific alarm event cannot be forced until the corresponding enable bit is set with the INTHW
command. For example, before you can force alarm event bit #3 (INTSW3), you must first enable the
Gem6K to check the state of alarm event bit #3 (INTHW.3-1).
The client application must determine the cause of the forced alarm event. This is accomplished by polling
the Communication Server’s “fast status” register for the alarm information. Once the register has been
read for a client application, the alarm conditions are automatically cleared in the Communications Server.
For more information on the alarms and using the fast status register, refer to the Programmer’s Guide.

Example:
INTHW1 ; Enable alarm event bit #1
V2 ; Set velocity to 2 units/sec
D25000 ; Set move distance to 25000 units
INTSW1 ; Force alarm event bit #1 as soon as the move is finished
; **************************************************************************
; * Note: After the alarm occurs, it is the client application program's *
; * responsibility to examine the communication server's fast status *
; * register to determine the cause of the alarm. *
; **************************************************************************
INVARI Map Inputs to Integer Variable

Type Variables Product Rev
Syntax <a_><!>INVARI,,, GT6K 6.0
Units See below
GV6K 6.0
Range See below
Default n/a
Response INVARI: *INVARI1,1,1,12
See Also INDEB, INEN, INLVL, VARI
The INVARI command allows a selected group of contiguous inputs to be interpreted as a binary number
and continuously assigned to the selected integer variable (VARI). The inputs are specified by I/O brick
number, starting bit number, and ending bit number. All inputs to be mapped to a VARI must be contiguous
and on the same I/O brick. These inputs are read and masked internally, then shifted such that the starting
bit is the low-order bit of the resulting binary value. A change in the starting bit input will always result in a
change of ±1 in the resulting VARI, even if the starting bit number is not 1.
INVARI,,,
VARI number. Range is 1-8. Ending bit location on I/O brick.

• Range is 1-32.
• The input must exist on the I/O brick at
I/O Brick number. the specified location.
• 0 for onboard inputs
• 1-8 for external EVM32 I/0 bricks Starting bit location on I/O brick.
• Range is 1-32.
• The input must exist on the I/O brick at
the specified location.
The Gem6K inputs are read every 2 milliseconds, modified by INLVL and INEN, and debounced with the
time specified in INDEB. The inputs specified by INVARI are monitored after they are modified by INLVL
and INEN, but before the debounce. Thus, the VARI variable specified by the INVARI command will be
updated every 2 milliseconds.
The VARI variables are not updated with inputs unless the INVARI is issued with valid values for starting
and ending bits. If the specified input bit does not exist onboard or on the I/O brick, an error message
(“*INVALID DATA”) will result.
Specifying bit 0 for both starting and ending bit disables the INVARI mapping (INVARI,,0,0).

Example:
A following application requires an axis to follow a master source that has position information presented
as a 12-bit binary number on digital outputs. An external I/O brick with two 8-bit digital input SIMs is used
to read the 12 bits of the source. The source is wired to bits 1-12.
DEF SETUP
INVARI4,1,1,12 ; VARI4 reflects bits 1-12 of brick 1
FOLMAS48 ; Axis follows VARI4
FOLEN1 ; Enable Following mode.
END
Test: (Assert bits 2 and 3)
>VARI4
*VARI4=+6
>TPMAS
*TPMAS+6
JOG Jog Mode Enable

Type Jog Product Rev
Syntax <a_><!>JOG GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response JOG: *JOG0
See Also DJOG, JOGA, JOGAA, JOGAD, JOGADA, JOGVH, JOGVL, INFNC
The JOG1 command enables jog mode. Once jog mode has been enabled, the jog inputs can be used to
produce motion. The inputs that will be used as jog inputs are determined by the INFNC command. Once
the jog inputs have been enabled, they will remain enabled, and able to jog at any time while the motor is in
position. Or in other words, as long as the motor is not moving the jog inputs will be active.
After processing the JOG1 command, command processing does not stop and wait for the jog mode to be
disabled (JOGØ). Instead, the jog inputs are enabled and command processing continues with the first
command after the JOG1 command.
WARNING
If a jog input is active when jog mode is enabled, motion will occur.
To disable jog mode, issue the JOGØ command at any point in the program.
NOTE: If you are using an RP240 operator panel, you can enable the RP240 Jog Mode with the DJOG1
command and use the RP240's arrow keys to jog the axis. To disable the RP240 Jog Mode, use the
!DJOGØ command or press the RP240's MENU RECALL button.
Example:
1INFNC1-L ; Input #1 on I/O brick 1 defined as jog velocity select input
1INFNC2-J ; Input #2 on I/O brick 1 defined as jog positive-direction input
1INFNC3-K ; Input #3 on I/O brick 1 defined as jog negative-direction input
JOGA100 ; Jog acceleration set to 100 units/sec/sec
JOGAD200 ; Jog deceleration set to 200 units/sec/sec
JOGVH10 ; The velocity when the jog velocity select input is high is
; 10 units/sec
JOGVL1 ; The velocity when the jog velocity select input is low is
; 1 units/sec
JOG1 ; Enable jog mode. When an input occurs on input 2 or input 3,
; the motor will move at the appropriate jog velocity until
; the input is released
WAIT(1IN.4=b1) ; Wait for input #4 on I/O brick 1 to become active.
; Input #4 is being used as a signal to disable jog mode.
JOG0 ; Disable jog mode

JOGA Jog Acceleration
Syntax <a_><!>JOGA<r> GT6K 6.0
GV6K 6.0
Range 0.00001 - 39,999,998 (depending on the scaling factor)
Default 10.0000
Response JOGA: *JOGA10.0000
See Also DJOG, JOG, JOGAA, JOGAD, JOGADA, JOGVH, JOGVL, INFNC, SCALE,
SCLA
The JOGA command specifies the acceleration to be used upon receiving a jog input.
The jog acceleration remains set until you change it with a subsequent jog acceleration command.
Accelerations outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD x,
where x is the field number. When an invalid acceleration is entered the previous acceleration value is
retained.
If the jog deceleration (JOGAD) command has not been entered, the jog acceleration (JOGA) command will
also set the jog deceleration rate. Once the jog deceleration (JOGAD) command has been entered, the jog
acceleration (JOGA) command no longer affects jog deceleration.
Example: Refer to the jog mode enable (JOG) command example.
JOGAA Jogging Average Acceleration

Type Jog; Motion (S-Curve) Product Rev
Syntax <a_><!>JOGAA<r> GT6K 6.0
GV6K 6.0
Default 10.00 (Default is a constant accel ramp, where JOGAA tracks
JOGA. S-curve accel is achieved when JOGAA is changed
independent of JOGA. To restore a constant accel ramp and
tracking, set JOGAA = 0.)
Response JOGAA: *JOGAA10.0000
See Also A, ADA, JOG, JOGA, JOGAD, JOGADA, SCALE, SCLA
The JOGAA command allows you to specify the average acceleration for an S-curve jogging profile. S-curve
Scaling (SCLA) affects JOGAA the same as it does for JOGA. Refer to page 16 for details on scaling.
Example:
JOGA10 ; Sets the maximum jogging acceleration
JOGAA5 ; Sets the average jogging acceleration

JOGAD Jog Deceleration
Syntax <a_><!>JOGAD<r> GT6K 6.0
GV6K 6.0
Default 10.0000 (by default, JOGAD tracks JOGA until JOGAD is changed
independent of JOGA; to restore tracking, set JOGAD = 0)
Response JOGAD: *JOGAD10.0000
See Also DJOG, JOG, JOGA, JOGAA, JOGADA, JOGVH, JOGVL, INFNC, SCALE,
SCLA
The JOGAD command specifies the deceleration to be used when a jog input is released.
The jog deceleration remains set until you change it with a subsequent jog deceleration command.
retained.
If the jog deceleration (JOGAD) command has not been entered, the jog acceleration (JOGA) command will
also set the jog deceleration rate. Once the jog deceleration (JOGAD) command has been entered, the jog
acceleration (JOGA) command no longer affects jog deceleration. If JOGAD is set to zero (JOGADØ), then the
jog deceleration will once again track whatever the JOGA command is set to.
JOGADA Jogging Average Deceleration

Type Jog; Motion (S-Curve) Product Rev
Syntax <a_><!>JOGADA<r> GT6K 6.0
GV6K 6.0
Default 10.00 (By default, JOGADA tracks JOGAA until JOGADA is changed
independent of JOGAA. To restore tracking, set JOGAD = 0.)
Response JOGADA: *JOGADA10.0000
See Also A, AD, JOG, JOGA, JOGAA, JOGAD, SCALE, SCLA
The JOGADA command allows you to specify the average deceleration for an S-curve jogging profile. S-
profiling.
Scaling (SCLA) affects JOGADA the same as it does for JOGAD. Refer to page 16 for details on scaling.
Example:
JOGAD10 ; Sets the maximum jog deceleration
JOGADA5 ; Sets the average jog deceleration

JOGVH Jog Velocity High
Syntax <a_><!>JOGVH<r> GT6K 6.0
GV6K 6.0
Default 10.0000
Response JOGVH: *JOGVH10.0000
See Also DJOG, JOG, JOGA, JOGAA, JOGAD, JOGADA, JOGVL, INFNC , SCALE,
SCLV
The JOGVH command specifies the velocity to be used upon receiving a jog input with the jog velocity
select input active (ON).
The jog high velocity remains set until you change it with a subsequent jog high velocity command.
Velocities outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD x, where
x is the field number. When an invalid velocity is entered the previous velocity value is retained.
JOGVL Jog Velocity Low

Syntax <a_><!>JOGVL<r> GT6K 6.0
GV6K 6.0
Default 0.5000
Response JOGVL: *JOGVL0.50000
See Also DJOG, JOG, JOGA, JOGAA, JOGAD, JOGADA, JOGVH, INFNC , SCALE,
SCLV
The JOGVL command specifies the velocity to be used upon receiving a jog input with the jog velocity
select input low, or OFF. The velocity remains set until you change it with a subsequent jog velocity low
command. Velocities outside the valid range are flagged as an error, with a message *INVALID DATA-
FIELD x, where x is the field number. When an invalid velocity is entered the previous velocity value is
retained.

JOY Joystick Mode Enable
Type Joystick Product Rev
Syntax <a_><!>JOY GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response JOY: *JOY0
See Also ANIRNG, [ AS ], COMEXC, INFNC, JOYA, JOYAA, JOYAD, JOYADA,
JOYAXH, JOYCDB, JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ, TAS, TIN
The Gem6K drive supports joystick operation with digital inputs and analog inputs.
To Set Up Joystick Operation (refer also to the example code below):
1. Select the required digital inputs and analog inputs required for joystick operation. Connect the
joystick as instructed in the Hardware Installation Guide.
2. Assign the appropriate input functions to the digital inputs used for the joystick's operation:
• Release Input: INFNCi-M
• Velocity Select Input: INFNCi-O
3. (optional) Use the ANIRNG command to select the voltage range for the analog input you will use. The
default range is -10VDC to +10VDC (other options are 0 to +5V, -5 to +5V, and 0 to +10V).
4. Assign analog input, using:
• JOYAXH: Standard analog input-to-axis assignment.
5. Define the joystick motion parameters:
• Max. Velocity when Velocity Select input switch is open/high (JOYVH command). If the Velocity
Select input is not used, joystick motion always uses the JOYVH velocity.
• Max. Velocity when Velocity Select input switch is closed/low (JOYVL command).
• Accel (JOYA command).
• Accel for s-curve profiling (JOYAA command).
• Decel (JOYAD command).
• Decel for s-curve profiling (JOYADA command).
6. Define the usable voltage zone for your joystick:
(make sure you have first assigned the analog inputs – see step 4 above)
• End Deadband (JOYEDB): Defines the voltage offset (from the -10V & +10V endpoints) at which
max. velocity occurs. Default is 0.1V, maxing voltage at -9.9V and +9.9V.
• Center Voltage (JOYCTR or JOYZ): Defines the voltage when the joystick is at rest to be the zero-
velocity center. Default JOYCTR setting is 0V.
• Center Deadband (JOYCDB): Defines the zero-velocity range on either side of the Center Voltage.
Default is 0.1V, setting the zero-velocity range at -0.1V to +0.1V.
7. To jog the axis:
a. In your program, enable Joystick Operation with the JOY command (Joystick Release input must
be closed in order to enable joystick mode). When the JOY command enables joystick mode,
program execution stops (assuming the Continuous Command Execution Mode is disabled with
the COMEXCØ command).
b. Move the load with the joystick.
c. When you are finished, open the Joystick Release input to disable joystick mode. This allows
program execution to resume with the next statement after the initial JOY command that started the
joystick mode.

Programming Example (refer also to the illustration below):
Application Requirements:
This example represents a typical joystick application in which a high-velocity range is required to move to a region,
then a low-velocity range is required for a fine search. After the search is completed it is necessary to record the load
position, then move to the next region. A digital input can be used to indicate that the position should be read. The
Joystick Release input is used to exit the joystick mode and continue with the motion program.
Hardware Configuration:
• An analog input SIM is installed in the 3rd slot of I/O brick 1. The eight analog inputs (1-8) are addressed as input
numbers 17-24 on the I/O brick. Analog input 17 will control the axis.
• A digital input SIM is installed in the 1st slot of I/O brick 1. The eight digital inputs (1-8) are addressed as input
numbers 1-8 on the I/O brick. Digital input 6 will be used for the Joystick Release function, and input 7 will be used
for the Joystick Velocity Select input. Input 8 will be used to indicate that the position should be read.
Setup Code (the drawing below shows the usable voltage configuration):
1INFNC6-M ; Assign Joystick Release function to brick 1, input 6
1INFNC7-O ; Assign Joystick Velocity Select function to brick 1, input 7
JOYAXH1-17 ; Assign analog input 17 to control the axis
JOYVH10 ; Max. velocity is 10 units/sec when the Velocity Select
; input switch (1IN.7) is open (high)
JOYVL1 ; Max. velocity is 1 unit/sec when the Velocity Select
; input switch (1IN.7) is closed (low)
JOYA100 ; Set joystick accel to 100 units/sec/sec
JOYAD100 ; Set joystick decel to 100 units/sec/sec
;**** COMMANDS TO SET UP USABLE VOLTAGE: **********
1JOYCTR.17=+1.0 ; Set center voltage for analog input 17 to+1.0V. The +1.0V value
; was ascertained by checking the voltage of the input (with
; the 1TANI.17 command) when the joystick was at rest
1JOYCDB.17=0.5 ; Set center deadband to compensate for the fact that
; when the joystick is at rest, the voltage received on
; the analog input may fluctuate +/- 0.5V on either
; side of the +1.0V center.
1JOYEDB.17=2.0 ; Set end deadband to compensate for the fact that the
; joystick can produce only -8.0V to +8.0V.
;**************************************************
JOY1 ; Enable joystick mode
Velocity
(positive direction)
JOYVH or JOYVL
JOYEDB
JOYCDB
(zero-velocity range)
Volts
-10V +10V
JOYCTR or JOYZ
JOYEDB (voltage when joystick is at rest)
JOYVH or JOYVL
Velocity
(negative direction)

JOYA Joystick Acceleration
Syntax <a_><!>JOYA<r> GT6K 6.0
GV6K 6.0
Range 0.3 – 9999.9999
Default 10.0000
Response JOYA: *JOYA10.0000
See Also JOY, JOYAA, JOYAD, JOYADA, JOYAXH, JOYCDB, JOYCTR, JOYEDB, JOYVH,
JOYVL, JOYZ, SCALE, SCLA
The JOYA command specifies the acceleration to be used during joystick mode.
The joystick acceleration remains set until you change it with a subsequent joystick acceleration command.
Accelerations outside the valid range are flagged as an error, with a message *INVALID DATA-FIELD x,
where x is the field number. When an invalid acceleration is entered the previous acceleration value is
retained.
If the joystick deceleration (JOYAD) command has not been entered, the joystick acceleration (JOYA)
command will also set the joystick deceleration rate. Once the joystick deceleration (JOYAD) command has
been entered, the joystick acceleration (JOYA) command no longer affects joystick deceleration.
Example: Refer to the joystick mode enable (JOY) command example.
JOYAA Joystick Average Acceleration

Syntax <a_><!>JOYAA<r> GT6K 6.0
GV6K 6.0
Range 0, or 0.3 – 9999.9999
Default 10.00 (Default is a constant accel ramp, where JOYAA tracks
JOYA. S-curve accel is achieved when JOYAA is changed
independent of JOYA. To restore a constant accel ramp and
tracking, set JOYAA = 0.)
Response JOYAA: *JOYAA10.0000
See Also AA, AD, JOY, JOYA, JOYAD, JOYADA, SCALE, SCLA
The JOYAA command allows you to specify the average acceleration for an S-curve joystick profile. S-
profiling.
Accelerating Scaling (SCLA) affects JOYAA the same as it does for JOYA. Refer to page 16 for details on
scaling.
Example:
JOYA10 ; Set the maximum joystick acceleration
JOYAA5 ; Set the average joystick acceleration

JOYAD Joystick Deceleration
Syntax <a_><!>JOYAD<r> GT6K 6.0
GV6K 6.0
Range 0, or 0.3 – 9999.9999
Default 10.0000 (by default, JOYAD tracks JOYA until JOYAD is changed
independent of JOYA; to restore tracking, set JOYAD = 0)
Response JOYAD: *JOYAD10.0000
See Also JOY, JOYA, JOYAA, JOYADA, JOYAXH, JOYCDB, JOYCTR, JOYEDB,
JOYVH, JOYVL, JOYZ, SCALE, SCLA
The JOYAD command specifies the deceleration to be used during the joystick mode.
The joystick deceleration remains set until you change it with a subsequent joystick deceleration command.
retained.
If the joystick deceleration (JOYAD) command has not been entered, the joystick acceleration (JOYA)
command will also set the joystick deceleration rate. Once the joystick deceleration (JOYAD) command has
been entered, the joystick acceleration (JOYA) command no longer affects joystick deceleration. If JOYAD is
set to zero (JOYADØ), then the joystick deceleration will once again track whatever the JOYA command is
set to.
JOYADA Joystick Average Deceleration

Syntax <a_><!>JOYADA<r> GT6K 6.0
GV6K 6.0
Range 0.3 – 9999.9999
Default 10.00 (By default, JOYADA tracks JOYAA until JOYADA is changed
independent of JOYAA. To restore tracking, set JOYAD = 0.)
Response JOYADA: *JOYADA10.0000
See Also A, AD, JOY, JOYA, JOYAA, JOYAD, SCALE, SCLA
The JOYADA command allows you to specify the average deceleration for an S-curve joystick profile. S-
profiling.
Acceleration Scaling (SCLA) affects JOYADA the same as it does for JOYAD. Refer to page 16 for details on
scaling.
Example:
JOYAD10 ; Sets the maximum joystick deceleration
JOYADA5 ; Sets the average joystick deceleration

JOYAXH Joystick Analog Channel High
Syntax <a_><!>JOYAXH<B-i> GT6K 6.0
GV6K 6.0
i = Location of the analog input on I/O brick (see page 8)
Range B = 1-8
i = 1-32
Default 0-0
Response JOYAXH: *JOYAXH1-1
See Also ANIRNG, [ IN ], INFNC, JOY, JOYA, JOYAA, JOYAD, JOYADA, JOYCDB,
JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ, TIN, TLIM
The JOYAXH command specifies the analog input that will control the axis while Joystick Mode is enabled.
To understand how specific I/O points are addressed on the I/O bricks, refer to page 8.
NOTE: If you install an analog input SIM on an external I/O brick, use the ANIRNG command to select the voltage
range for the external 12-bit analog inputs you will use. The default range is -10VDC to +10VDC (other options are 0
to +5V, -5 to +5V, and 0 to +10V). The onboard analog input on the DRIVE I/O connector is not affected by the
ANIRNG command.
`Example: Refer to the joystick mode enable (JOY) command example.
JOYCDB Joystick Center Deadband

Syntax <a_><!>JOYCDB<.i><=r> GT6K 6.0
Units i = I/O location for the analog input on brick B (see page 8)
GV6K 6.0
r = volts
Range i = 1-32
r = 0.00 - 10.00 (depending on ANIRNG setting)
Default 0.1
Response 1JOYCDB.1 *1JOYCDB.1=0.1
See Also ANIRNG, INFNC, JOY, JOYA, JOYAA, JOYAD, JOYADA, JOYAXH,
JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ
The JOYCDB command defines, for the specified analog input, the zero-velocity range on either side of the Center Voltage
established with the JOYCTR command or the JOYZ command. The default setting is 0.1V, which sets the zero-velocity
range at -0.1V to +0.1V (assuming the default JOYCTR default of 0.0V is used). NOTE: Executing the JOYCDB command
before the JOYAXH command will cause an error (“INPUT(S) NOT DEFINED AS JOYSTICK INPUT”).
JOYCTR Joystick Center

Syntax <a_><!>JOYCTR<.i><=r> GT6K 6.0
GV6K 6.0
r = volts
Range i = 1-32
r = -10.00 - +10.00 (depending on ANIRNG setting)
Default 0.00
Response 1JOYCTR.1 *1JOYCTR.1=0.00
JOYCDB, JOYEDB, JOYVH, JOYVL, JOYZ
The JOYCTR command defines, for the specified analog input(s), the voltage to be considered as the zero-velocity center
(usually associated with leaving the joystick in the resting position). Default is 0V. The zero-velocity range about the
center is determined by the JOYCDB command. As an alternative to the JOYCTR command, you could use the JOYZ
command. NOTE: Executing the JOYCTR command before the JOYAXH command will cause an error (“INPUT(S)
NOT DEFINED AS JOYSTICK INPUT”).

JOYEDB Joystick End Deadband
Syntax <a_><!>JOYEDB<.i><=r> GT6K 6.0
GV6K 6.0
r = volts
Range i = 1-32
r = 0.00 - 10.00 (depending on ANIRNG setting)
Default 0.1
Response 1JOYEDB.1 *1JOYCTR.1=0.1
JOYCDB, JOYCTR, JOYVH, JOYVL, JOYZ
The JOYEDB command defines, for the specified analog input, the voltage offset (from the -10V & +10V
endpoints) at which maximum velocity occurs. This command is useful if your joystick does not reach either limit
of the voltage range (-10.00V to+10.00V). The default setting is 0.1V, creating a maximum voltage range of -
9.9V to +9.9V. NOTE: Executing the JOYEDB command before the JOYAXH command will cause an error
(“INPUT(S) NOT DEFINED AS JOYSTICK INPUT”).
JOYVH Joystick Velocity — Velocity Select Input High

Syntax <a_><!>JOYVH<r> GT6K 6.0
Units r = units/sec
GV6K 6.0
Default 0.5000
Response JOYVH: *JOYVH0.5000
See Also [ IN ], INFNC, JOY, JOYA, JOYAA, JOYAD, JOYADA, JOYCDB,
JOYCTR, JOYEDB, JOYVL, JOYZ, SCALE, SCLV, TIN, TLIM
The JOYVH command specifies the maximum velocity that can be obtained at full deflection during joystick
mode, with the Joystick Velocity Select input open (high). The Joystick Velocity Select input function is
defined with the INFNCi-O command. If the Velocity Select input is not used, joystick motion always uses
the JOYVH velocity.
The joystick velocity must be entered prior to entering joystick mode (JOY). The joystick velocity high
remains set until you change it with a subsequent JOYVH command. Velocities outside the valid range are
flagged as an error, with a message *INVALID DATA-FIELD x, where x is the field number. When an
invalid velocity is entered the previous velocity value is retained.

JOYVL Joystick Velocity — Velocity Select Input Low
Syntax <a_><!>JOYVL<r> GT6K 6.0
Units r = units/sec
GV6K 6.0
Default 0.2000
Response JOYVL: *JOYVL0.2000
See Also [ IN ], INFNC, JOY, JOYA, JOYAA, JOYAD, JOYADA, JOYAXH, JOYCDB,
JOYCTR, JOYEDB, JOYVH, JOYZ, SCALE, SCLV, TIN, TLIM
The JOYVL command specifies the maximum velocity that can be obtained at full deflection during joystick
mode, with the Joystick Velocity Select input closed (low). The Joystick Velocity Select input function is
defined with the INFNCi-O command. If the Velocity Select input is not used, joystick motion always uses
the JOYVH velocity.
The joystick velocity must be entered prior to entering joystick mode (JOY). The joystick velocity low
remains set until you change it with a subsequent JOYVL command. Velocities outside the valid range are
flagged as an error, with a message *INVALID DATA-FIELD x, where x is the field number. When an
invalid velocity is entered the previous velocity value is retained.
JOYZ Joystick Zero

Syntax <a_><!>JOYZ<.i><=b> GT6K 6.0
(multiple inputs per brick may be configured at one time)
GV6K 6.0
i = Location of the analog input on I/O brick (see page 8)
b = enable bit
Range B = 1-8
i = 1-32
b = 0 (don't zero) or 1 (zero), or X (don't change)
Default n/a
Response n/a
See Also ANIRNG, JOY, JOYA, JOYAA, JOYAD, JOYADA, JOYAXH, JOYCDB,
JOYCTR, JOYEDB, JOYVH, JOYVL
The JOYZ command defines the voltage when the joystick is at rest to be the zero-velocity center. Simply
leave the joystick in its resting position and issue a JOYZ command to define the current voltage of the
respective analog inputs as the zero-velocity center. The zero-velocity range about the center is determined
by the JOYCDB command.
The JOYZ command is an alternative to using the JOYCTR command.
Example:
1INFNC7-M ; Assign Joystick Release function to brick 1, input 7
1INFNC8-O ; Assign Joystick Velocity Select function to brick 1, input 8
JOYAXH1-17 ; Assign analog input 17 to control the axis
JOYVH10 ; Max. velocity is 10 units/sec when the Velocity Select
; input (1IN.8) is high (sinking current)
JOYVL1 ; Max. velocity is 1 unit/sec when the Velocity Select
; input (1IN.8) is low (not sinking current)
JOYA100 ; Set joystick accel to 100 units/sec/sec
JOYAD100 ; Set joystick decel to 100 units/sec/sec
;**** COMMANDS TO SET UP USABLE VOLTAGE: **********
1JOYZ.17=1 ; This command is executed while the joystick is at rest. It
; sets the current voltage on analog input 17 as the
; zero-velocity center.

1JOYCDB.17=0.5 ; Set center deadband to compensate for the fact that
; when the joystick is at rest, the voltage received on
; the analog input may fluctuate +/- 0.5V on either
; side of the zero-velocity center established with JOYZ.
1JOYEDB.17=2.0 ; Set end deadband to compensate for the fact that the
; joystick can produce only -8.0V to +8.0V.
;**************************************************
JOY1 ; Enable joystick mode
JUMP Jump to a Program or Label (and do not return)

Type Program or Subroutine Definition or Program Flow Control Product Rev
Syntax <a_><!>JUMP<t> GT6K 6.0
Units t = text (name of program/label)
GV6K 6.0
Default n/a
Response n/a
See Also $, DEF, DEL, END, GOSUB, GOTO, IF, L, LN, NIF, NWHILE, REPEAT,
RUN, UNTIL, WHILE
The JUMP command branches to the corresponding program name or label when executed. A program or
label name consists of 6 or fewer alpha-numeric characters.
All nested IFs, WHILEs, and REPEATs, loops, and subroutines are cleared; thus, the program or label that
the JUMP initiates will not return control to the line after the JUMP, when the program completes operation.
Instead, the program will end.
If an invalid program or label name is entered, the JUMP will be ignored, and processing will continue with
the line after the JUMP.
Example
; ***********************************************************************
; * In this example, the program bottom is executed and calls the top *
; * subroutine. The top subroutine then initiates motion (GO1) and *
; * jumps to the program called middle to turn on output #2. Then, *
; * because the JUMP command cleared the top subroutine, program *
; * execution is terminated instead of returning to the bottom program. *
; ***********************************************************************
DEL top ; Delete program top
DEF top ; Begin definition program top
JUMP middle ; Jump to program middle
DEL middle ; Delete program middle
DEF middle ; Begin definition of program middle
OUTx1 ; Turn on output #2
DEL bottom ; Delete program bottom
DEF bottom ; Begin definition of program bottom
GOSUB top ; Gosub to program top
RUN bottom ; Execute program bottom

K Kill Motion
Syntax <a_><!>K GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (don't kill) or 1 (kill)
Default n/a
Response !K No response, instead motion is killed
See Also FOLK, GO, <CTRL>K, KDRIVE, LHAD, LHADA, S, SCANP, TAS
The Kill Motion (K) command instructs the drive to stop motion. Two types of Kill are available:
• Kill motion only: K1 (buffered) or !K1 (immediate).
• Kill motion and terminate program: !K (immediate), K (buffered), <CTRL>K
Additional methods include: activate a kill input (INFNCi-C), activate a user fault input
(INFNCi-F), or open the Enable input connection.
When a kill is initiated, motion is stopped at the rate set with the LHADA and LHAD commands.
If you want the drive to be disabled upon executing a Kill command, enable the Disable Drive on Kill
mode with the KDRIVE1 command. CAUTION: In the KDRIVE1 mode, a Kill command or Kill input
immediately shuts down the drive, allowing the load to free wheel to a stop.
If the axis is involved in a PLC Scan (initiated with SCANP), a K command will clear the scan.
Example:
AD2 ; Set deceleration to 2 units/sec/sec
V1 ; Set velocity to 1 units/
GO1 ; Initiate motion -- motion begins.
; After a short period the Kill command is sent.
!K ; Kill motion (stop at the LHADA/LHAD decel)
<CTRL>K Kill Motion

Syntax <CTRL>K GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response <CTRL>K: No response, instead motion is killed
See Also GO, K, KDRIVE, LHAD, LHADA, S
The Kill Motion (<ctrl>K) command instructs the Gem6K to stop motion and terminate program
execution. In essence, the <ctrl>K command is an immediate kill (!K) command.
Motion is stopped at the rate set with the LHADA and LHAD commands. If the Disable Drive on Kill mode is
enabled with the KDRIVE1 command, a <ctrl>K command immediately shuts down the drive, allowing
the load to free wheel to a stop.
Example:
V1 ; Set velocity to 1 units/
GO1 ; Initiate motion -- motion begins.
; After a short period the Kill command is sent.
<CTRL>K ; Kill motion (stop at the LHADA/LHAD deceleration)

KDRIVE Disable Drive on Kill
Syntax <a_><!>KDRIVE GT6K 6.0
GV6K 6.0
Default 0
Response KDRIVE: *KDRIVE0
See Also DRIVE, INFNC, K, <ctrl>K
If you enable the Disable Drive on Kill function (KDRIVE1), then when a kill command (K, !K, or
<ctrl>K) is processed or a kill input (INFNCi-C) is activated, the drive will be disabled immediately.
CAUTION: This cuts all control to the motor and allows the load to freewheel to a stop.
To re-enable the drive, issue the DRIVE1 command.
If you leave the KDRIVE command in its default state (Ø, disabled), the kill function behaves in its normal
manner, leaving the drive enabled.
Example:
KDRIVE1 ; Disable the drive when a kill occurs
K ; Kill is performed and drive is disabled
KIOEN Kill on EVM32 Disconnect

Type Drive Configuration; Inputs; Outputs Product Rev
Syntax <a_><!>KIOEN GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response KIOEN: *KIOEN0
See Also ERROR, TER, TIO
The KIOEN command allows you to control the functionality of the Gem6K when an EVM32 I/O failure
has been detected (cause could be cable disconnection, or loss of power on the EVM32 I/O brick). The
options are as follows:
• KIOEN0 (factory default): The Gem6K will not perform a kill. (SEE WARNING NOTE BELOW)
• KIOEN1: The Gem6K will perform a kill (all motion and program execution on all tasks) if an
EVM32 I/O failure is detected.
Regardless of the state of the KIOEN command, you can enable error bit 18 (ERROR.18-1) and use an error
program to respond to an EVM32 I/O failure. Note that when operating in the KIOEN0 mode (factory
default), the branch to the error program is a GOSUB, but in KIOEN1 mode the branch is a GOTO.
WARNING
If you use the factory default KIOEN0 mode (no kill if EVM32 I/O failure), bear in mind that when an
EVM32 I/O failure occurs, the state of any external conditions becomes unknown to the Gem6K drive. For
example, if an input on brick 2 is defined as a hardware end-of-travel limit, and if brick 2 loses power or is
disconnected from the Gem6K, the Gem6K will never see a state change on the limit.
The KIOEN0 mode is designed for use during system setup (for example, if you will be connecting and
disconnecting I/O bricks in the process of wiring and programming your system).
Therefore, to help prevent damage to equipment and serious injury to personnel, we recommend enabling
this feature (KIOEN1) during normal operation of your motion control system.

L Loop
Type Loops; Program Flow Control Product Rev
Syntax <a_><!>L GT6K 6.0
Units i = number of times to loop
GV6K 6.0
Range 0-999,999,999 (0 = infinite loop)
Default 0
Response L: No response; instead, this has the same function as L0
See Also C, COMEXS, LN, LX, PLN, PLOOP, PS, S
When you combine the Loop (L) command with the end of loop (LN) command, all of the commands
between L and LN will be repeated the number of times specified by L. If = Ø, or if no argument is
specified, all the commands between L and LN will be repeated indefinitely. The loop can be stopped by
issuing a Terminate Loop (!LX) command, an immediate Kill (!K) command, or an immediate Halt
(!HALT) command.
The loop can be paused by issuing an immediate Pause (!PS) command or a Stop (!S) command, but only
in the COMEXS1 mode. The loop can then be resumed with the immediate Continue (!C) command.
You may nest loops up to 16 levels deep.
NOTE: Be careful about performing a GOTO between the L and LN commands. Branching to a different
location within the same program will cause the next loop encountered to be nested within the
previous loop, unless an LN command has already been encountered.
Example:
DEL flash ; Delete program flash
DEF flash ; Begin definition of program flash
L5 ; Repeat the commands between L and LN five times
A20 ; Set acceleration to 20 revs/sec
WAIT(AS.1=b0) ; Wait until no motion is commanded
OUTxxx1 ; Turn on output #4
T.75 ; Dwell for 0.75 seconds
OUTxxx0 ; Turn off output #4
T.75 ; Dwell for 0.75 seconds
LN ; End loop
END ; End definition
LDAMP Load Damping

Syntax <a_><!>LDAMP<r> GT6K n/a
Units Rotary motor: r = Nm/rad/sec
GV6K 6.0
Linear motor: r = N/meter/sec
Range Rotary motor: 0.0000 to 1.0000 : ±0.0001 (applicable only to
Default 0.0000
Response LDAMP: *LDAMP0.2000
See Also DMTD, SGPRAT, SGVRAT, TGAIN, TSGSET
The LDAMP command specifies the damping provided by the mechanical load only, not including the motor
itself (which is specified by DMTD).
• Check the values of all active gains (LDAMP is one of many servo gains): use TGAIN.

LH Hardware End-of-Travel Limit — Enable Checking
Type Limit (End-of-Travel); Drive Configuration Product Rev
Syntax <a_><!>LH GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 (disable both), 1 (disable positive-direction),
2 (disable negative-direction), or 3 (enable both)
Default 3
Response LH: *LH3
See Also [ AS ], [ ER ], DRIVE, ERROR, INDEB, INFNC, INLVL, LHAD, LHADA,
[ LIM ], LIMEN, LIMFNC, LIMLVL, LS, LSAD, LSADA, LSNEG, LSPOS,
TAS, TER, TLIM, TSTAT
Use the LH command to enable or disable either or both end-of-travel limit inputs.
Disable negative-direction limit; Disable positive-direction limit: LH0
Enable negative-direction limit; Disable positive-direction limit: LH1
Disable negative-direction limit; Enable positive-direction limit: LH2
Enable negative-direction limit; Enable positive-direction limit: LH3
The “end-of-travel limit” functions are assigned with the LIMFNC command to the onboard limit inputs on the
DRIVE I/O connector; or with the INFNC command to onboard or external inputs. The factory default LIMFNC
assignments on the DRIVE I/O connector are as follows (but any of the three limit inputs, five general purpose
inputs or inputs on external I/O bricks could be re-assigned as end-of-travel inputs):
Limit # Pin # GT6K & GV6K Function (LIMFNC default )
1 28 LIMFNC1-R (Positive end-of-travel limit)
2 29 LIMFNC2-S (Negative end-of-travel limit)
3 31 LIMFNC3-T (Home limit)
The LH command is required to enable checking the state of the end-of-travel limits (i.e., LIMFNCi-R, or
LIMFNCi-S); for example, LH3 is required to detect the occurrence of the hardware limit activation, as
reported with axis status bits 15 and 16 (see TASF, TAS, AS). The default LH condition is enabled (LH3).
With limits disabled, motion will not be restricted. When a specific limit is enabled (positive- or negative-
direction), and the limit wiring for the enabled limit is a physical open circuit, motion will be restricted
(assuming the default active level of LIMLVLØ). The LIMLVL command controls the active level of the limit
inputs.
If an “end-of-travel limit” input is redefined with a different function (i.e., not LIMFNCi-R or LIMFNCi-S),
it is no longer controlled by the LH command. Instead, use the LIMEN command.
NOTE
If a hardware limit is encountered while limits are enabled, motion must occur in the
opposite direction; then you can make a move in the original direction. If limits are
disabled (LH0), you are free to make a move in either direction. When a hardware limit
is encountered, the drive sets TAS bit 15 or 16, as well as TER bit 2. To clear these
status bits, you can execute a GO in the opposite direction or disable the limits with the
LH0 command.
Example:
LH3 ; Enable limits
LHAD100 ; Set hard limit decel to 100 units/sec/sec

LHAD Hard Limit Deceleration
Type Limit (End-of-Travel) Product Rev
Syntax <a_><!>LHAD<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 100.0000
Response LHAD: *LHAD100.0000
See Also AD, DMEPIT, DRES, INFNC, INLVL, K, [ LIM ], LIMEN, LIMFNC,
LIMLVL, LH, LHADA, LS, LSAD, LSADA, LSNEG, LSPOS, SCALE, SCLA,
TLIM
The LHAD command determines the value at which to decelerate after a hardware end-of-travel limit has
been hit.
When a drive fault, a Kill command (K, !K, or ^K), or a Kill input (INFNCi-C) occurs, motion is stopped at
the rate set with the LHAD and LHADA commands. However, if the Disable Drive on Kill mode is enabled
(KDRIVE1), the drive is immediately shut down upon a Kill command or Kill input and allows the
motor/load to freewheel to a stop without a controlled deceleration.
The hard limit deceleration remains set until you change it with a subsequent hard limit deceleration
command. Decelerations outside the valid range are flagged as an error, with a message *INVALID DATA-
FIELD x, where x is the field number. When an invalid deceleration is entered the previous deceleration
value is retained.
Example: Refer to the hard limit enable (LH) command example.
LHADA Hard Limit Average Deceleration

Syntax <a_><!>LHADA<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 100.000 (Default is a constant decel ramp, where LHADA tracks
LHAD. S-curve decel is achieved when LHADA is changed
independent of LHAD. To restore a constant decel ramp and
tracking, set AA = 0.)
Response LHADA: *LHADA100.0000
See Also AD, ADA, INFNC, K, LHAD, LIMFNC, LIMLVL, SCALE, SCLA
The LHADA command allows you to specify the average deceleration for an S-curve deceleration profile
when a hardware end-of-travel limit is hit.

Acceleration scaling (SCLA) affects LHADA the same as it does for LHAD. Refer to page 16 for details on scaling.
S-curve profiling provides smoother motion control by reducing the rate of change in deceleration; this decel rate
of change is known as jerk. Refer to page 15 for details on S-curve profiling.
Example:
LHAD10 ; Set the maximum deceleration to 10 units/sec/sec
LHADA5 ; Set the average deceleration to 5 units/sec/sec
[ LIM ] Limit Status

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ IN ], INDEB, INFNC, LH, LIMEN, LIMFNC, LIMLVL, TLIM
The LIM operator is used to assign the limit status bits to a binary variable, or to make a comparison against a
LIM does not depict the status of onboard inputs or external digital inputs assigned an end-of-travel or home
limit function (INFNCi-R, INFNCi-S, or INFNCi-T). For such inputs, you must use the IN operator.
Syntax: VARBn=LIM where n is the binary variable number,
or LIM can be used in an expression such as IF(LIM=b1XX), or IF(LIM=h7)
The LIM value is the debounced version of the limits status (debounced with the ØINDEB value). Axis status
(AS) bits 15 and 16 reports the non-debounced version of the end-of-travel limits.
There are 3 limit inputs: positive-direction, negative-direction, and home end-of-travel limits. Each is
available for assignment or comparison. If it is desired to assign only one limit input value to a binary
variable, instead of the status of all the limit inputs, the bit select (.) operator can be used. The bit select, in
conjunction with the limit input number, is used to specify a specific limit input. For example,
VARB1=LIM.3 assigns limit input 3 (home limit) to binary variable 1.
Format for binary assignment: 000
Bit #1 Bit #3
LIM bit Function

1 Positive-direction Limit
2 Negative-direction Limit
3 Home Limit
Example:
IF(LIM=b11X) ; If both end of travel limit inputs are active, then
; do the statements between the IF and NIF
TLIM ; Transfer limit status

LIMEN Limit Input Enable
Type Inputs; Program Debug Tool Product Rev
Syntax <a_><!>LIMEN<d><d><d> GT6K 6.0
Units n/a
GV6K 6.0
Range d = 0 (disable, leave off), 1 (disable, leave on),
E (enable), or X (don't change)
Default E
Response LIMEN: *LIMENEEE
LIMEN.3 *E
See Also INEN, LH, [ LIM ], LIMFNC, LIMLVL, TIO, TLIM
The LIMEN command allows you to simulate the activation of specific limit inputs (without actually wiring
the inputs to the drive) by disabling them and setting them to a specific level (ON or OFF). This is useful
for testing and debugging your program (see program example below). LIMEN may only be used for
onboard limit inputs (found on the “DRIVE I/O” connector), not for onboard or external digital inputs. The
default state is enabled (E), requiring external wiring to exercise their respective LIMFNC functions.
LIMEN response for limits on the DRIVE I/O connector (bits are numbered 1-3 from left to right):
LIMENbbb
The LH command is required to enable checking the state of the end-of-travel limits (i.e., LIMFNCi-R, or
LIMFNCi-S); for example, LH3 is required to detect the occurrence of the hardware limit activation, as
reported with axis status bits 15 and 16 (see TASF, TAS, AS). The default LH condition is enabled (LH3).
The input bit patterns for onboard and external I/O bricks are explained on page 8 of this document.
Example:
DEL tsting ; Delete program called "tsting"
DEF tsting ; Begin definition of program called "tsting"
LIMFNC3-E ; Define hardware end-of-travel limit #3 (normally defined
; as the home end-of-travel limit) as a "pause/resume" input.
COMEXR1 ; Activating the pause/resume input will pause command and
; motion execution, de-activating the pause/resume input
; will resume command and motion execution.
MC1 ; Set the axis to continuous motion profiling mode
GO1 ; Initiate continuous motion
END ; End definition of program called "tsting"
; While this program is running and motion is in progress, you can send
; immediate LIMEN commands to simulate the function of the "pause/resume"
; input as follows:
; 1. Start the program by sending the RUN TSTING command to the drive.
; The axis will start moving, using a continuous motion profile.
; 2. Send the !LIMEN.3=1 command to the drive. This disables the
; "pause/resume" input but simulates its activation. Motion and
; program execution will pause.
; 3. Send the !LIMEN.3=0 command to the drive. This disables the
; "pause/resume" input but simulates its de-activation. Motion and
; program execution will resume.
; 4. Send the !LIMEN.3=E command to the drive. This re-enables the
; "pause/resume" input for normal operation with an external switch
; or sensor.
; 5. To stop this experiment, send the !K command to the drive.
; This "kills" program execution and motion.

LIMFNC Input Function for Limit Inputs
Type Inputs; Limits (end of travel); Homing Product Rev
Syntax <a_><!>LIMFNC-<<a>c> GT6K 6.0
Units i = input # on the “DRIVE I/O” connector (see page 8);
GV6K 6.0
a = program # for function P;
c = function identifier letter
Range i = 1-3;
c = A-T
Default (pre-assigned limits and home function -- see below)
Response LIMFNC: *LIMFNC1-A NO FUNCTION - STATUS OFF
(repeated for all onboard limit inputs)
See Also COMEXR, COMEXS, [ ER ], ERROR, INDEB, INFNC, INPLC, INSELP,
INSTW, INTHW, JOY, JOYAXH, JOYVH, JOYVL, K, KDRIVE, LH,
[ LIM ], LIMEN, LIMFNC, LIMLVL, PSET, [ SS ], TER, TIN, TRGFN,
TRGLOT, [ TRIG ], TSS, TSTAT, TTRIG
The LIMFNC command defines the function of each individual limit input found on the “DRIVE I/O”
connector. The factory default configuration is that each dedicated hardware end-of-travel and home limit
is assigned to its respective LIMFNC function. That is, positive limit is assigned to LIMFNC1-R, negative
limit is assigned to LIMFNC2-S, home limit is assigned to LIMFNC3-T.
Input debounce. By default, the limit inputs are assigned their respective end-of-travel or home LIMFNC
functions (R, S or T). These limit functions are not debounced, but the hardware status (see TLIM and LIM) is
debounced with the Input Debounce Time (INDEB) command setting for I/O brick zero (default is 4 ms).
The INDEB debounce is the period of time that the input must be held in a certain state before the drive
recognizes it. This directly affects the rate at which the inputs can change state and be recognized. When a
limit input is assigned a function other than its respective end-of-travel or home LIMFNC function (R, S or T),
it is debounced the INDEB setting for I/O brick zero (default is 4 ms). If a limit is once again returned to its
respective LIMFNC function, the debounce is removed.
Input scan rate: The limit inputs are scanned once per system update (2 milliseconds).
Enabling & disabling inputs. Limit inputs assigned an end-of-travel input function (functions R or S
described below) are enabled/disabled with the LH command — the default is enabled. Limit input
functions may be overridden with the LIMEN command — the default is enabled (no override).
Multitasking. If the LIMFNC command does not include the task identifier (%) prefix, the function affects
the task that executes the LIMFNC command. The functions that may be directed to a task with % are: C, D,
E, F, and P (e.g., 2%LIMFNC3-F assigns limit input 3 as a user fault input for task 2). Multiple tasks may
share the same input, but the input may only be assigned one function.
A No special function (general-purpose input). Status can be used with the LIM
assignment/comparison operator.
B BCD Program Select. BCD input assignment to programs, lowest numbered input is least
significant bit (LSB). BCD values for inputs are as follows:
BCD Value
Least Significant Bit Value 1
. 2
Most Significant Bit Value 4
Note: If fewer inputs than shown above are defined to be Program Select Inputs, then the highest input number
defined as a Program Select Input is the most significant bit.
An input defined as a BCD Program Select Input will not function until the INSELP command has been enabled.

C Kill. Kills motion and halts all command processing (refer to K and KDRIVE command descriptions
for further details on the kill function). This is an edge detection function and is not intended to
inhibit motion. To inhibit motion, use the Pause/Resume function (LIMFNCi-E). When enabled with
the ERROR command, bit #6 of the TER and ER commands will report the kill status.
D Stop. Stops motion. If COMEXS is set to zero (COMEXSØ), program execution will be terminated. If
COMEXS is set to 1 (COMEXS1), command processing will continue. With COMEXS set to 2
(COMEXS2), program execution is terminated, but the INSELP value is retained. Motion deceleration
during the stop is controlled by the AD & ADA commands. If error bit #8 is enabled (e.g., ERROR.8-
1), activating a Stop input will set the error bit and cause a branch to the ERRORP program.
E Pause/Continue. If COMEXR is disabled (COMEXRØ), then only command execution pauses, not
motion. With COMEXR enabled (COMEXR1), both command and motion execution are paused. After
motion stops, you can release the input or issue a continue (!C) command to resume command
processing (and motion in COMEXR1 mode).
F User Fault. Refer to the ERROR command. If error bit #7 is enabled (e.g., ERROR.7-1), activating a
User Fault input will set the error bit and cause a branch to the ERRORP program. CAUTION:
Activating the user fault input sends an !K command to the drive, “killing” motion (refer to the K
command description for ramifications).
G,H Reserved
I Alarm Event - Will cause the drive to set an Alarm Event in the Communications Server over the
Ethernet interface. You must first enable the Alarm checking bit for this input-driven alarm
(INTHW.23-1). For details on using alarms, refer to the Programmer’s Guide.
J JOG positive-direction - Will jog the axis in a positive-direction. The JOG command must be
K JOG negative-direction. Will jog the axis in a negative-direction. The JOG command must be
L JOG Speed Select. Selects the high or low velocity range while jogging. If the input is active, the
high jog velocity range will be selected.
M Joystick Release. Signals the drive to end joystick operation and resume program execution with
the next statement in your program. When the input is open (high), the joystick mode is disabled
(joystick mode can be enabled only if the input is closed, and only with the JOY command). When
the input is closed (low), joystick mode can be enabled with the JOY command. The process of
using Joystick mode is:
1. Assign the "Joystick Release" input function to a programmable input.
2. At the appropriate place in the program, enable joystick control of motion (with the JOY
command). (Joystick mode cannot be enabled unless the "Joystick Release" input is closed.)
When the JOY command enables joystick mode, program execution stops (assuming the
Continuous Command Execution Mode is disabled with the COMEXCØ command).
3. Use the joystick to move the axis as required.
4. When you are finished using the joystick, open the "Joystick Release" input to disable the
joystick mode. This allows program execution to resume with the next statement after the initial
JOY command that started the joystick mode.
N Reserved

O Joystick Velocity Select. Allows you to select the velocity for joystick motion. The JOYVH and
JOYVL commands establish two joystick velocities. Opening the Velocity Select input (input is high)
selects the JOYVH configuration. Closing the Velocity Select input (input is low) selects the JOYVL
configuration. The JOYVL velocity could be used to quickly move to a location, the JOYVH velocity
could be used for low-speed accurate positioning. NOTE: When this input is not connected, joystick
motion always uses the JOYVH velocity setting.
aP Program Select. One to one correspondence for input vs. program number. The program number
comes from the TDIR command. The number specified before the program name is the number to
specify within this input definition. For example, in the LIMFNC1-3P command, 3 is the program
number. An input defined as a Program Select Input will not function until the INSELP command
has been enabled.
Q Program Security. Issuing the LIMFNCi-Q command enables the Program Security feature and
assigns the Program Access function to the specified programmable input.
The program security feature denies you access to the DEF, DEL, ERASE, MEMORY, LIMFNC, and
INFNC commands until you activate the program access input. Being denied access to these
commands effectively restricts altering the user memory allocation. If you try to use these
commands when program security is active (program access input is not activated), you will receive
the error message *ACCESS DENIED. The LIMFNCi-Q command is not saved in battery-backed
RAM, so you may want to put it in the start-up program (STARTP).
For example, once you issue the LIMFNC1-Q command, limit input 3 is assigned the program
access function and access to the DEF, DEL, ERASE, MEMORY, LIMFNC, and INFNC commands will
be denied until you activate the input.
To regain access to these commands without the use of the program access input, you must issue
the LIMEN command to disable the program security input, make the required user memory
changes, and then issue the LIMEN command to re-enable the input. For example, if limit input 3 is
assigned as the Program Security input, use LIMEN.3=1 to disable the input and leave it activated,
make the necessary user memory changes, and then use LIMEN.3=E to re-enable the input.
Limit Function Assignments: The end-of-travel and home limit functions listed below (R, S & T) can
only be assigned to their respective inputs (which is the factory default configuration). For example,
limit input functions R, S & T must be assigned to limit inputs 1-3, respectively. If you attempt any other
permutation of LIMFNC assignment of functions R, S & T, the drive will respond with the error message
“INVALID LIMFNC COMBINATION”.
R End-of-Travel Limit, Positive Direction. This is the factory default function for limit input 1 found
on the “DRIVE I/O” connector. If an onboard input or a digital input on an external I/O brick is
assigned this function (e.g. 2INFNC1-R), then change the limit input’s function to something else
(e.g., change LIMFNC1-R to LIMFNC1-A). This end-of-travel limit input function is not debounced.
S End-of-Travel Limit, Negative Direction. This is the factory default function for limit input 2 found
on the “DRIVE I/O” connector. If an onboard input or a digital input on an external I/O brick is
assigned this function (e.g. 2INFNC2-S), then change the limit input’s function to something else
(e.g., change LIMFNC2-S to LIMFNC2-A). This end-of-travel limit input function is not debounced.
T Home Limit. This is the factory default function for limit input 3 found on the “DRIVE I/O” connector.
If an onboard input or a digital input on an external I/O brick is assigned this function (e.g.
2INFNC3-T), then change the limit input’s function to something else (e.g., change LIMFNC3-T to
LIMFNC3-A). This home limit input function is not debounced.
Example:
LIMFNC1-D ; Redefine the positive EOT input (limit input #1)
; to be a stop input

LIMLVL Hardware Limit Input Active Level
Type Limit (End-of-Travel and Homing) Product Rev
Syntax <a_><!>LIMLVL GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (active low: requires n.c. EOT switch & n.o. home switch),
1 (active high: requires n.o. EOT switch & n.c. home switch),
or X (don’t care)
Default 0
Response LIMLVL: *LIMLVL000
See Also [ AS ], LH, LIMEN, [ LIM ], LIMFNC, HOM, TAS, TLIM
Use the LIMLVL command to define the active state the end-of-travel and home limits (found on the
“DRIVE I/O” connector). The default state is active low.
Command syntax for limits on the DRIVE I/O connector (bits are numbered 1-3 from left to right):
LIMLVLbbb
Active Level Setting Required Switch Type * State LIM/TLIM Report

Active low (LIMLVL0) End-of-travel limit: N.C. Grounded — sinking current 1 (no limit hit)
This is the default setting. Home limit: N.O. (device driving the input is on)
Not Grounded — not sinking current 0 (FAULT: limit hit)
(device driving the input is off)
Active high (LIMLVL1) End-of-travel limit: N.O. Grounded — sinking current 0 (FAULT: limit hit)
Home limit: N.C. (device driving the input is on)
Not Grounded — not sinking current 1 (no limit hit)
* Compumotor recommends that all end-of-travel limit switches be normally-closed, because with normally-closed
limit switches the drive detects a limit fault condition (and stops or inhibits motion) when the switch contact is open
or if the wiring to the switch is broken.
Axis Status (AS, TAS, and TASF) bits 15 and 16 indicate when a hardware end-of-travel limit has been
activated (i.e., invoking the “inhibit motion” function).
Wiring instructions and specifications for the limit inputs are provided in the Hardware Installation Guide.
LJRAT System Load-to-Rotor/Forcer Inertia/Mass Ratio

Syntax <a_><!>LJRAT<r> GT6K 6.0
Units Rotary motor: r = ratio of load inertia to motor rotor inertia GV6K 6.0
Linear motor: r = ratio of load mass to forcer mass
Range 0.0 - 100.0
Default 0.0
Response LJRAT: *LJRAT4
See Also DACTDP, DELVIS, TGAIN, TSGSET
The LJRAT command sets the system’s load-to-rotor inertia ratio (rotary motors) or load-to-forcer mass
ratio (linear motors). The ratio is expressed in the following equation:
Rotary Motors: Linear Motors:
LJRAT = load inertia / motor rotor inertia LJRAT = load mass / forcer mass
(Total system inertia = load inertia + motor rotor inertia) (Total system mass = load mass + forcer mass)

NOTE: LJRAT must be set in order for the Electronic Viscosity (DELVIS) and Active Damping (DACTDP)
features to function properly.
• Check the values of all active gains (LJRAT is one of many servo gains): use TGAIN.
LN End of Loop
Type Loops or Program Flow Control Product Rev
Syntax <a_><!>LN GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response No response; used in conjunction with the L command
See Also L, LX
The LN command marks the end of a loop. You must use this command in conjunction with the Loop (L)
command. All buffered commands that you enter between the L and LN commands are executed as many
times as the number that you enter following the L command. You may nest loops up to 16 levels deep.
NOTE: Be careful about performing a GOTO between the L and LN commands. Branching to a different
location within the same program will cause the next loop encountered to be nested within the previous
loop, unless an LN command has already been encountered.
Example:
L5 ; Repeat the commands between L and LN five times
GO1 ; Start motion
LN ; End loop
LOCK Lock Resource to Task

Type Multi-tasking Product Rev
Syntax <a_><!>LOCK<i,i> GT6K 6.0
Units 1st i = resource number
GV6K 6.0
2nd i = 1 (lock the resource) or 0 (unlock the resource)
Range 1st i = 1 (COM1 port), 2 (COM2 port),
or 3 (task swapping)
2nd i = 1 (lock the resource) or 0 (unlock the resource)
Default 0 (= not locked)
Response LOCK (see example below)
See Also [ , ], DRPCHK, E, PORT, TSKTRN
Use the LOCK command to make a resource available only to the specified task. The LOCK-able resources are:
• COM1 — the “RS-232/485” communication port or the “ETHERNET” communication port
• COM2 — the “RS-232” communication port
• Task Swapping — When task swapping is locked to a specific task, statements in all other tasks will
not be executed until task swapping is again unlocked.
To check the LOCK status of all available resources, enter the LOCK command without field value. Below is
an example response:
*LOCK1,0 COM PORT 1 - UNLOCKED
*LOCK2,0 COM PORT 2 - UNLOCKED
*LOCK3,0 TASK SWAPPING - UNLOCKED
See the Programmer’s Guide for more information about using the LOCK command with multi-tasking.

NOTES
• If one task attempts to lock a resource in a different task (e.g., if Task1 attempts to execute the
2%LOCK1,1 command), the drive will respond with an error message (“ALTERNATE TASK NOT
ALLOWED“).
• If task “A” attempts to lock a resource that is already locked to task “B”, command processing in
task “A” will pause on the LOCK command, and SS bit 26 or 27 will be set (“SUSPENDED ON
COMn“). When task “B” unlocks the resource, task “A” will be able to lock the resource and
continue processing.
• If task “A” attempts to lock task swapping while any other task has locked a resource, command
processing in task “A” will pause on the LOCK command, and SS bit 24 will be set (“SUSPENDED
ON SWAP“). When all other tasks release locks on all other resources (COM1, COM2), task “A”
will be able to lock task swapping and continue processing.
• A resource may be locked by a task only while that task is executing a program. If program
execution is terminated for any reason (e.g., stop, kill, limit, fault, or just reaching the END of a
program), all resources locked by that task will become unlocked.
Example:
LOCK1,1 ; Ensure exclusive COM1 access for the task executing
; this program
WRITE"travel is" ; First part of output string
WRVAR1 ; Numeric value of travel
WRITE"inches.” ; Finish complete string
LOCK1,0 ; Allow other tasks access to COM1
LS Soft Limit Enable

Syntax <a_><!>LS GT6K 6.0
Units n/a
GV6K 6.0
Range i = 0 (disable both), 1 (disable positive-direction),
2 (disable negative-direction) or 3 (enable both)
Default 0
Response LS: *LS0
See Also [ AS ], [ ER ], LH, LSAD, LSADA, LSNEG, LSPOS, PSET, TAS, TER,
TSTAT
The LS command determines the status of the programmable soft move distance limits. With soft limits
disabled, motion will not be restricted. After a soft limit absolute position has been programmed (LSPOS
and LSNEG), and the soft limit is enabled (LS), a move will be restricted upon reaching the programmed
soft limit absolute position. The rate at which motion is decelerated to a stop upon reaching a soft limit is
determined by the LSAD and LSADA commands.
Disable negative- and positive-direction soft limits i=0
Enable negative-direction, disable positive-direction soft limit i=1
Enable positive-direction, disable negative-direction soft limit i=2
Enable negative- and positive-direction soft limits i=3
NOTE: The Gem6K drive maintains an absolute count, even though you may be programming in the
incremental mode (MAØ). The soft limits will also function in preset mode (MCØ) or continuous
mode (MC1). The soft limit position references the commanded position (TPC), not the position as
measured by a feedback device, such as an encoder (TPE).
NOTE
If a soft limit is encountered while limits are enabled, motion must occur in the opposite direction
before a move in the original direction is allowed. You cannot use the PSET command to clear the
soft limit condition. If limits are disabled, you are free to make a move in either direction.

Example
LSPOS500000 ; Set soft limit positive-direction absolute position to be
; 500000 units (Soft limits are always absolute)
LSNEG-500000 ; Set soft limit negative-direction absolute position to
; be -500000 units (Soft limits are always absolute)
LS3 ; Enable both soft limits
LSAD100 ; Set soft limit decel to 100 units/sec/sec
PSET0 ; Set absolute position to 0
A10 ; Set accel to 10 units/sec/sec
LSAD Soft Limit Deceleration

Syntax <a_><!>LSAD<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 100.0000
Response LSAD: *LSAD100.0000
See Also DMEPIT, DRES, LHAD, LS, LSADA, LSNEG, LSPOS, SCALE, SCLA
The LSAD command determines the value at which to decelerate after a programmed soft limit (LSPOS or
LSNEG) has been hit.
The soft limit deceleration remains set until you change it with a subsequent soft limit deceleration
command. Decelerations outside the valid range are flagged as an error, with a message *INVALID DATA-
FIELD x, where x is the field number. When an invalid deceleration is entered the previous deceleration
value is retained.
Example: Refer to the soft limit enable (LS) command example.
LSADA Soft Limit Average Deceleration

Type Motion (S-Curve); Limit (End-of-Travel) Product Rev
Syntax <a_><!>LSADA<r> GT6K 6.0
GV6K 6.0
Range 0.0001 – 9999.9999
Default 100.0000 (Default is a constant decel ramp, where LSADA tracks
LSAD. S-curve decel is achieved when LSADA is changed
independent of LSAD. To restore a constant decel ramp and
tracking, set AA = 0.)
Response LSADA: *LSADA100.0000
See Also AD, ADA, LS, DMEPIT, LHADA, LS, LSAD, SCALE, SCLA
The LSADA command allows you to specify the average deceleration for an S-curve deceleration profile
when a soft limit is hit. S-curve profiling provides smoother motion control by reducing the rate of change
in deceleration; this decel rate of change is known as jerk. Refer to page 15 for details on S-curve profiling.
Acceleration scaling (SCLA) affects LSADA the same as it does for LSAD. Refer to page 16 for details on scaling.
Example:
LSAD10 ; Set the maximum deceleration to 10 units/sec/sec
LSADA5 ; Set the average deceleration to 5 units/sec/sec

LSNEG Soft Limit Negative Travel Range
Syntax <a_><!>LSNEG<r> GT6K 6.0
Units r = units of distance
GV6K 6.0
Range -999,999,999 to +999,999,999 (after conversion to steps)
Default +0
Response LSNEG: *LSNEG+0
See Also LS, LSAD, LSADA, LSPOS, PSET, SCALE, SCLD
The LSNEG command specifies the distance in absolute units where motion will be restricted when
traveling in a negative-travel direction. The reference position used to determine absolute position is set to
zero upon power-up, and can be reset using the PSET command. Be sure to set the LSPOS value greater
than the LSNEG value.
The LSNEG value remains set until you change it with a subsequent LSNEG command.
All soft limit values entered are in absolute distance counts. If scaling is enabled (SCALE1), LSNEG is
internally multiplied by the distance scale factor (SCLD). The soft limit position references the commanded
position (TPC), not the position as measured by a feedback device, such as an encoder (TPE).
LSPOS Soft Limit Positive Travel Range

Syntax <a_><!>LSPOS<r> GT6K 6.0
Units r = units of distance
GV6K 6.0
Range -999,999,999 to +999,999,999 (after conversion to steps)
Default +0
Response LSPOS: *LSPOS+0
See Also LS, LSAD, LSADA, LSNEG, PSET, SCALE, SCLD
The LSPOS command specifies the distance in absolute units where motion will be restricted when
traveling in a positive-travel direction. The reference position used to determine absolute position is set to
zero upon power-up, and can be reset using the PSET command. Be sure to set the LSPOS value greater
than the LSNEG value.
The LSPOS value remains set until you change it with a subsequent LSPOS command.
All soft limit values entered are in absolute distance counts. If scaling is enabled (SCALE1), LSPOS is
internally multiplied by the distance scale factor (SCLD). The soft limit position references the commanded
position (TPC), not the position as measured by a feedback device, such as an encoder (TPE).
LX Terminate Loop
Type Loops; Program Flow Control Product Rev
Syntax <a_><!>LX GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also L, LN, PLN, PLOOP
The LX command terminates the current loop in progress. This command does not halt processing of the
commands in the loop until the last command in the current loop iteration is executed. At this point, the
loop is terminated. If there are nested loops, only the inner most loop is terminated.

This command can be used externally to terminate the loop only if it is preceded by the immediate command
specifier (!LX). If the immediate command specifier is not used, the command will have no effect on a loop in
progress. An example of where the buffered Terminate Loop command (LX) might be used is provided below.
Example:
; *******************************************************************
; This program will make the move specified by the GO1 command
; indefinitely until input 2 goes high, at which point, an LX will
; be issued, terminating the loop.
; *******************************************************************
L0 ; Repeat the commands between L and LN infinitely, or until
; a Terminate Loop (LX) command is received
GO1 ; Start motion
IF(IN=bX1) ; If input 2 goes high, execute all
; statements between IF and NIF
LX ; Terminate loop
LN ; End loop
MA Absolute/Incremental Mode Enable

Syntax <a_><!>MA GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (incremental mode) or 1 (absolute mode)
Default 0
Response MA: *MA0
See Also COMEXC, D, GO, PSET
The MA command specifies whether the subsequent motion will be made with respect to current position
(incremental mode) or with respect to an absolute zero position (absolute mode).
In incremental mode (MAØ), all moves are made with respect to the position at the beginning of the move.
This mode is useful for repeating moves of the same distance.
In absolute mode (MA1), all moves are made with respect to the absolute zero position. The absolute zero
position is equal to zero upon power up, and can be redefined with the PSET command. An internal counter
keeps track of absolute position.
ON-THE-FLY CHANGES: You can change positioning modes on the fly (while motion is in progress) in
two ways. One way is to send an immediate command (!MA) followed by an immediate go command
buffered command (MA) followed by a buffered go command (GO).
Example:
PSET0 ; Set the present position to be absolute position zero
MA1 ; Enable absolute positioning mode
AD7 ; Set deceleration to 7 revs/sec/sec
D4000 ; Set the setpoint distance to absolute position 4000
GO1 ; Start motion: (move 4000 counts in the positive direction)
GO1 ; Start motion: (move 2000 counts in the negative direction)
GO1 ; Start motion: (move 6000 counts in the positive direction)
MA0 ; Enable incremental positioning mode
D4000 ; Set incremental distance to 4000 counts, positive direction
GO1 ; Start motion: (move 4000 counts in the positive direction
; and finish at absolute position 12000)
GO1 ; Start motion again: (move 4000 counts in the positive direction
; and finish at absolute position 16000)

MC Preset/Continuous Mode Enable
Syntax <a_><!>MC GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (preset mode) or 1 (continuous mode)
Default 0
Response MC: *MC0
See Also A, AD, COMEXC, COMEXS, D, FOLMD, [ FS ], FSHFC, FSHFD, GO,
GOBUF, K, MA, PSET, S, TFS, V
The MC command causes subsequent moves to go a specified distance (MCØ), or a specified velocity (MC1).
In the Preset Mode (MCØ), all moves will go a specific distance. The actual distance traveled is specified by
the D, SCLD, and MA commands.
In the Continuous Mode (MC1), all moves will go to a specific velocity with the Distance (D) command
establishing the direction (D+ or D-). The actual velocity will be determined by the V and SCLV commands,
or the V and DRES commands.
Motion will stop with an immediate Stop (!S) command, an immediate Kill (!K) command, or by
specifying a velocity of zero followed by a GO command. Motion can also be stopped with a buffered Stop
(S) or Kill (K) command if the continuous command processing mode (COMEXC) is enabled.
ON-THE-FLY CHANGES: You can change positioning modes on the fly (while motion is in progress) in
two ways. One way is to send an immediate command (!MC) followed by an immediate go command
buffered command (MC) followed by a buffered go command (GO).
Example:
DEL demo ; Delete program demo
DEF demo ; Begin definition of program demo
MA0 ; Enable incremental positioning mode
MC0 ; Enable preset positioning mode
D10000 ; Set distance to 10,000 counts
GO1 ; Initiate motion (move 10,000 counts in positive direction)
COMEXC1 ; Enable continuous command processing mode
MC1 ; Enable continuous positioning mode
GO1 ; Initiate motion (travel at a velocity of 5 revs/sec)
T5 ; Wait 5 seconds
V9 ; Set velocity to 9 revs/sec (when the next GO is executed)
GO1 ; Change to the new velocity of 9 revs/sec
T2 ; Wait 2 seconds
V0 ; Set velocity to zero
GO1 ; Go to zero velocity
WAIT(AS.1=b0) ; Wait until no motion is commanded
END ; End definition of program demo

MEMORY Partition User Memory
Syntax <a_><!>MEMORY, GT6K 6.0
Units i = bytes of memory (use even number only)
GV6K 6.0
1st = partition for “Programs”
2nd = partition for “Compiled Profiles”
Range (see table below)
Default (see table below)
Response MEMORY: *MEMORY150000,150000
See Also [ DATP ], DEF, GOBUF, PCOMP, PLCP, [ SEG ], [ SS ], TDIR,
TMEM, TSEG, TSS
The Gem6K’s memory has two partitions: one for storing programs and one for storing compiled profiles
& PLC programs. The allocation of memory to these two areas is controlled with the MEMORY command.
“Programs” vs. ”Compiled Profiles & Programs”

Programs are defined with the DEF and END commands, as demonstrated in the “Program
Development Scenario” in the Programmer's Guide.
Compiled Profiles & PLC Programs are defined like programs (using the DEF and END commands),
but are compiled with the PCOMP command and executed with the PRUN command (but
PLCP programs are usually executed with SCANP). Compiled profiles/programs could be a
profile (a series of GOBUF commands), or a PLC program (for PLC Scan Mode).
Programs intended to be compiled are stored in program memory. After they are compiled
with the PCOMP command, they remain in program memory and the segments (see diagram
below) from the compiled program are stored in compiled memory. The TDIR report
indicates which programs are compiled as compiled profiles (“COMPILED AS A PATH”) and
which programs are compiled as PLC programs (“COMPILED AS A PLC PROGRAM”) .
For more information on compiled profiles (Compiled Motion Profiling), and PLC Scan Mode,
refer to the Programmer's Guide.
MEMORY Syntax:
MEMORY150000,150000 Memory allocation for Compiled Profiles & Programs (bytes).
Storage requirements depend on the number of segments
(1 segment consumes 76 bytes). A segment could be one of
these commands:
Memory allocation for
Compiled Motion: PLC (PLCP) Program:
Programs (bytes).
GOBUF * IF **
Storage requirements
PLOOP ELSE
depend on the number of
GOWHEN NIF
ASCII characters in the
TRGFN L
program.
POUTA LN
OUT
ANO
EXE
PEXE
VARI **
VARB **
* GOBUF commands may require up to 4 segments.
** IF statement may require at least 2 segments, each AND or
OR compound requires an additional segment. VARI and
VARB each require 2 segments.

Allocation Defaults and Limits:
The following table identifies memory allocation defaults and limits for the Gem6K drive. When
specifying the memory allocation, use only even numbers. The minimum storage capacity for one
partition area (program or compiled) is 1,000 bytes.
Feature Gem6K
Total memory (bytes) 300,000
Default allocation (program,compiled) 150000,150000
Maximum allocation for programs 299000,1000
Maximum allocation for compiled profiles/programs 1000,299000
Max. # of programs 400
Max. # of labels 600
Max. # of compiled profiles 300
Max. # of compiled profile segments 2069
Max. # of numeric variables 225
Max. # of integer variables 225
Max. # of string variables 25
Max. # of binary variables 125
When teaching variable data to a data program (DATP), be aware that the memory required for each
data statement of four data points (43 bytes) is taken from the memory allocation for program storage.
CAUTION
Issuing a memory allocation command (e.g., MEMORY200000,100000) will erase all
existing programs and compiled segments. However, issuing the MEMORY command by
itself (e.g., type MEMORY <cr> by itself to request the status of how the memory is
allocated) will not affect existing programs or compiled segments.
Checking Memory Status:

To find out what programs reside in your drive’s memory, and how much of the available memory is
allocated for programs and compiled profile segments, issue the TDIR command (see example
response below). Entering the TMEM command or the MEMORY command (without parameters) will
also report the available memory for programs and compiled profile segments.
Sample response to TDIR command:
*1 - SETUP USES 345 BYTES
*2 - PIKPRT USES 333 BYTES
*14322 OF 150000 BYTES (98%) PROGRAM MEMORY REMAINING
*1973 OF 1973 SEGMENTS (100%) COMPILED MEMORY REMAINING
Two system status bits (reported with the TSS, TSSF and SS commands) are available to check when
compiled profile segment storage is 75% full or 100% full. System status bit #29 is set when segment
storage reaches 75% of capacity; bit #30 indicates when segment storage is 100% full.
Example:
MEMORY200000,100000 ; Set aside 200,000 bytes for program storage,
; 100,000 bytes for compiled profile segments

MEPOL Master Encoder Polarity
Type Encoder; Following; Drive Configuration Product Rev
Syntax <a_><!>MEPOL GT6K 6.0
Units b = polarity bit
GV6K 6.0
Range b = 0 (normal polarity), 1 (reverse polarity),
or X (don’t care)
Default 0
Response MEPOL: *MEPOL0
See Also [ PCME ], [ PCMS ], [ PMAS ], [ PME ], PMESET, TPCME, TPME,
TPCMS, TPMAS
Use the MEPOL command to reverse the counting direction (polarity) of the Master Encoder input (the
encoder connector labeled “Master Encoder”). This allows you to reverse the counting direction without
having to change the actual wiring to the encoder input.
Immediately after issuing the MEPOL command, the master encoder will start counting in the opposite
direction (including all master encoder position registers).
The MEPOL command is automatically saved in non-volatile RAM.
MESND Master Encoder Step and Direction Mode

Type Encoder; Counter; Following Product Rev
Syntax <a_><!>MESND GT6K 6.0
GV6K 6.0
Range b = 0 (quadrature signal), 1 (step & direction),
or X (don’t care)
Default 0
Response MESND: *MESND0
See Also [ PME ], TPME
Use the MESND command to specify the functionality of the Master Encoder input.
MESND0 ........(default setting) accept a quadrature signal from the master encoder.
MESND1 ........Accept step and direction signals. The count is registered on a positive edge of a
transition for a signal measured on encoder channel A+ and A- connections. The
direction of the count is specified by the signal on encoder channel B+ and B-
connections. Therefore, you should connect your step and direction input device as
follows: Connect Step+ to A+, Step- to A-, Direction+ to B+, and Direction- to B-.
[ MOV ] Axis Moving Status

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ AS ], GO, TAS
The MOV command is used to assign the moving status to a binary variable, or to make a comparison against
a binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be
placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To
make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the value.
The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.

The axis moving status is also reported with bit #1 of the TAS, TASF and AS commands
Syntax: VARBn=MOV where n is the binary variable number,
or MOV can be used in an expression such as IF(MOV=b1), or IF(MOV=h1)
If the axis is in motion, the bit will be a one (1). If the axis is not in motion, the bit will be a zero (Ø).
Example:
COMEXC1 ; Enable continuous command processing mode
COMEXS1 ; Save command buffer on stop
MC1 ; Enable continuous mode
T5 ; Wait 5 seconds
S1 ; Stop motion
WAIT(MOV=b0) ; Wait for motion to come to a halt
NIF End IF Statement

Syntax <a_><!>NIF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response No response when used in conjunction with the IF command
See Also ELSE, IF
The NIF command is used in conjunction with the IF and ELSE commands to provide conditional program
flow. If the expression contained within the parentheses of the IF command evaluates true, then the commands
between the IF and the ELSE are executed, and the commands between the ELSE and the NIF are ignored. If
the expression evaluates false, the commands between the ELSE and the NIF are executed, and the commands
between IF and ELSE are ignored. The ELSE command is optional and does not have to be included in the IF
statement.
Programming order: IF(expression) ...commands... NIF
or
IF(expression) ...commands... ELSE ...commands... NIF
NOTE: Be careful about performing a GOTO between IF and NIF. Branching to a different location within
the same program will cause the next IF statement encountered to be nested within the previous
IF statement, unless a NIF command has already been encountered.
Example:
IF(IN=b1X0) ; If input 1 is ON and input 3 is OFF (IF statement evaluates
; true), run program #13. If the IF statement evaluates false,
; turn on output #3.
PROG13 ; Run program #13
ELSE ; If the IF condition evaluates false, execute the subsequent
; commands until the NIF.
OUTxx1 ; Turn on output #3

[ NMCY ] Master Cycle Number
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also FMCLEN, FMCNEW, FMCP, [ FS ], [ PMAS ], TFS, TNMCY, TRGFN
The NMCY command is used to assign the current master cycle number to a numeric variable, or to make a
comparison against another value. The master must be assigned first (FOLMAS command) before this
command will be useful. For a complete discussion of master cycles, refer to the Following chapter in the
Programmer's Guide.
The value represents the current cycle number, not the position of the master (or the follower). The master
cycle number is set to zero when master cycle counting is restarted, and is incremented each time a master
cycle finishes (i.e., rollover occurs). It will often correspond to the number of complete parts in a
production run. This value may be used for subsequent decision making, or simply recording the cycle
number corresponding to some other event.
Syntax: VARn=NMCY where “n” is the variable number, or NMCY can be used in an expression such as
IF(NMCY>=5).
Example:
IF(NMCY>500) ; If the master has moved through 500 cycles ...
WRITE"500 cycles have occurred" ; Send string to serial port
VAR12=NMCY ; Set VAR12 to equal the number of cycles that have occurred on
; the master
[ NOT ] Not
Type Operator (Logical) Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ AND ], IF, NWHILE, [ OR ], REPEAT, UNTIL, WAIT, WHILE
The NOT operator is used in conjunction with the program flow control commands (IF, REPEAT..UNTIL,
WHILE..NWHILE, WAIT). The NOT operator complements a logical expression. If an expression is true, the
NOT operator will make the expression false. If an expression is false, the NOT operator will make the
expression true. This is illustrated by the following examples:
If variable #1 equals 1, then the following is a true statement: IF(VAR1<3)
By using the NOT operator, the same statement becomes false: IF (NOT VAR1<3)
If variable #2 equals 2, then the following statement is false: WHILE(VAR2=3)
By using the NOT operator, the same statement becomes true: WHILE (NOT VAR2=3)
To evaluate an expression (NOT Expression) to determine if the expression is true, use the following rule:
NOT TRUE = FALSE
NOT FALSE = TRUE
In the following example, variable #1 is displayed, then is incremented by 1 as long as VAR1 is not equal to 10.
Example:
VAR1=1 ; Set variable 1 equal to 1
WHILE(NOT VAR1=10) ; Compare variable 1 to 10, and logically not the expression
WRVAR1 ; Write out variable 1
VAR1=VAR1 + 1 ; Set variable 1 to increment 1 by 1

NTADDR Ethernet IP Address
Syntax NTADDR<i,i,i,i> GT6K 6.0
Units i,i,i,i = IP address (commas are used in place of periods)
GV6K 6.0
Range i = 0-255
Default 192,168,10,30 (network address is 192.168.10.30)
Response NTADDR: *192,168,10,30
See Also TNTMAC
Use the NTADDR command to change the Gem6K drive’s IP address (e.g., to correct an IP address conflict).
NOTE: The Gem6K drive needs to be reset (cycle power or issue RESET command) in order for the new
address to take effect.
The NTADDR setting is automatically saved in battery backed RAM.
NTFEN Ethernet Communication Enable

Syntax NTFEN GT6K 6.0
Units b = Ethernet enable bit
GV6K 6.0
Range 0 (disabled),
1 (enabled for Windows 95/98, no File Sharing, closed network),
2 (enabled – recommended for most Ethernet configurations)
Default 0 (Ethernet communication is disabled)
Response NTFEN: *0
See Also NTADDR, NTMASK, TNT, TNTMAC
Use the NTFEN command to enable or disable Ethernet communication. The factory default configuration is
that Ethernet communication is disabled (NTFEN0). To enable Ethernet communication, you must connect to
the Gem6K’s “RS-232” serial port (COM2) and send the NTFEN command which is appropriate for your
Ethernet configuration (see options below). Then you can communicate over the Ethernet connection.
Options:
NTFEN0: Use NTFEN0 to disable Ethernet communication.
NTFEN1: NTFEN1 is primarily intended for use with Windows 95/98 with no File Sharing and a
closed network.
NTFEN2: NTFEN2 is recommended as the standard Ethernet communication mode, even if you are
using a closed network and no file sharing. NTFEN2 is especially useful if you are using
Windows NT, or Windows 95/98 with File Sharing and/or an open network.
NOTE: When using NTFEN2, you must also follow the ARP -S Static Mapping procedure
(see Programmer’s Guide).
NOTE: You can communicate to either the “ETHERNET” port or the “RS-232/485” port at one time.
The NTFEN setting is automatically saved in battery backed RAM. Thus, if you cycle power, Ethernet
communication will still be enabled.
If the Ethernet connection fails, the Gem6K will set error status bit #22 (see ER, TER, and TERF) if error-
checking bit #22 is enabled with the ERROR command. Also, if this error occurs, the Gem6K will branch to
the ERRORP program.

NTMASK Ethernet Network Mask
Syntax NTMASK<i,i,i,i> GT6K 6.0
Units i,i,i,i = mask
GV6K 6.0
Range i = 0-255
Default 255,255,255,0
Response NTMASK: *255,255,255,0
See Also NTADDR, TNTMAC
Use the NTMASK command to configure the Gem6K drive’s network mask. NOTE: The Gem6K drive
needs to be reset (cycle power or issue RESET command) in order for the new network mask to take effect.
The NTMASK setting is automatically saved in battery backed RAM.
NTSFS Ethernet Send Fast Status Packet

Syntax NTSFS GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also NTFEN
The NTSFS command allows a Gem6K program to send a Fast Status packet, as needed, from the Gem6K
drive to a PC application (COM6SRVR). In a typical application, a PC may be controlling a machine and
using the COM6SRVR’s Variable Packets to send variables and “job” instructions to the Gem6K. When
the job is complete, the Gem6K could execute the NTSFS command to send a Fast Status packet back to the
PC, thus indicating that the job was completed. Using the VarI and VarB elements of the Fast Status packet
allows the Gem6K to communicate that the job was completed satisfactorily or that a specific error caused
the job to fail.
For details on using Fast Status and COM6SRVR, refer to the Communication Server Programmer’s
Reference.
NWHILE End WHILE Statement

Syntax <a_><!>NWHILE GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response No response when used in conjunction with the WHILE command
See Also WHILE
The WHILE command, in conjunction with the NWHILE command, provide a means of conditional program
flow. The WHILE command marks the beginning of the conditional statement, the NWHILE command marks
the end. If the expression contained within the parenthesis of the WHILE command evaluates true, then the
commands between the WHILE and NWHILE are executed, and continue to execute as long as the expression
evaluates true. If the expression evaluates false, then program execution jumps to the first command after
the NWHILE.
Up to 16 levels of WHILE .... NWHILE commands may be nested.
NOTE: Be careful about performing a GOTO between WHILE and NWHILE. Branching to a different
location within the same program will cause the next WHILE statement encountered to be nested
within the previous WHILE statement, unless an NWHILE command has already been encountered.
Programming order: WHILE(expression) ...commands... NWHILE

Example:
WHILE(IN=b1X0) ; While input 1 = 1, input 3 = 0, execute commands between WHILE & NWHILE
T5 ; Wait 5 seconds
TPE ; Transfer position of encoder
ONCOND On Condition Enable

Type On Condition (Program Interrupt) Product Rev
Syntax <a_><!><%>ONCOND GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (disable), 1 (enable) or X (don't change)
Default 0
Response ONCOND: *ONCOND0000
See Also FSHFD, ONIN, ONP, ONUS, ONVARA, ONVARB, [ SS ], TSS
The ONCOND command enables the ONIN, ONUS, ONVARA, and ONVARB commands. When enabled, the
expressions specified in the ONIN, ONUS, ONVARA, and ONVARB commands will be continuously evaluated.
If any of the expressions ever evaluate true, a GOSUB will be made to the ONP program/subroutine.
ONP, ONIN, ONUS, ONVARA, and ONVARB should be defined before enabling the On Condition. If ONP is not
defined first, the error message *UNDEFINED LABEL will appear.
ONCONDbbbb: First b = ONIN Enable
Second b = ONUS Enable
Third b = ONVARA Enable
Fourth b = ONVARB Enable
When ON conditions WILL NOT interrupt immediately: These are situations in which an ON
condition does not immediately interrupt the program in progress. However, the fact that the ON condition
evaluated true is retained, and when the condition listed below is no longer preventing the interrupt, the
interrupt will occur.
• While a WAIT statement is in progress
• While a time delay (T) is in progress
• While a program is being defined (DEF)
• While a pause (PS) is in progress
• While a data read (DREAD, DREADF, or READ) is in progress
• While motion is in progress due to GO, GOWHEN, HOM, JOY, JOG, or PRUN and the continuous
command execution mode is disabled (COMEXCØ).
Multi-Tasking: Each task has it own ONP Program and its own set of On conditions.
Example:
DEF bigmov ; Define program bigmov
D20 ; Sets move distance to 20 units
ONP bigmov ; Set ON program to bigmov
2ONINxxx1 ; When input #4 on I/O brick 2 is activated,
; GOSUB to the ONP program
ONCOND1000 ; Enable ONIN condition
; Now that the ONP program named bigmov is defined, if input #4 becomes
; active during normal program operation, the program will GOSUB to the
; ONP program (bigmov).

ONIN On an Input Condition Gosub
Syntax <a_!><%><@>ONIN... GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (disable), 1 (enable) or X (don't care)
Default X
Response ONIN: *ONINXXXX_X
1ONIN: *1ONINXXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
See Also INFNC, ONCOND, ONP, TIN
The ONIN command specifies the input bit pattern which will cause a branch to the ON program (ONP). If
the input pattern occurs, a GOSUB is performed. The subroutine or program that the GOSUB branches to is
selected with the ON program (ONP) command.
The number of external inputs available varies by the configuration of I/O bricks used. Refer to page 8 for
details.
The ONIN command must be enabled using the ONCOND command before any branching will occur. Once a
branch to the ONP program occurs, the ONIN command will not call the ONP program while the ONP
program is executing, eliminating the possibility of recursive calls. After returning from the ONP program,
the input pattern specified by the ONIN command must evaluate false before another branch to the ONP
program, resulting from the ONIN inputs, will be allowed.
Multi-Tasking: Each task has it own ONP Program and its own set of On conditions. Only 1 ONIN
condition is allowed per task. Therefore, only one I/O brick can be referenced in an ONIN condition for a
specific task.
Example:
D20 ; Set move distance to 20 units
2ONINxxx11xx1 ; When inputs 4, 5, and 8 on I/O brick 2 are activated,
;
; Now that the ONP program named bigmov is defined, if inputs 4, 5, and 8 on
; I/O brick 2 become active during normal program operation, the program will
; GOSUB to the ONP program (bigmov).
ONP On Condition Program Assignment

Syntax <a_><!><%>ONP<t> GT6K 6.0
Units t = text (name of On Condition program)
GV6K 6.0
Range text name of 6 characters or less
Default n/a
Response ONP: *ONP bigmov
See Also DEF, END, ONCOND, ONIN, ONUS, ONVARA, ONVARB
The ONP command assigns the program to which programming will GOSUB when an ON condition is met.
The program must be defined (DEF) previous to the execution of the ONP command. The ONP command
must be specified before enabling the ON conditions (ONCOND). If ONP is not defined first, the error
message *UNDEFINED LABEL will appear.
To unassign the program as the ON condition program, issue the ONP CLR command. Deleting the program
with the DEL command will accomplish the same thing.
Within the ONP program, the programmer is responsible for checking which ON condition caused the
branch, if multiple ON conditions (ONCOND) have been enabled. Once a branch to the ONP program occurs,

the ONP program will not be called again until after it has finished executing. After returning from the ONP
program, the condition that caused the branch must evaluate false before another branch to the ONP
program will be allowed.
Example:
2ONIN.4-1 ; When input #4 on I/O brick 2 is activated,
;
; Now that the ONP program named bigmov is defined, if input #4 becomes
; active during normal program operation, the program will GOSUB to
; the ONP program (bigmov).
ONUS On a User Status Condition Gosub

Syntax <a_><!><%>ONUS... (16 bits) GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response ONUS: *ONUS0000_0000_0000_0000
See Also INDUSE, INDUST, ONCOND, ONP
The ONUS command specifies the user status bit pattern, defined using the INDUST command, which will
cause a branch to the ON program (ONP). If the bit pattern occurs, a GOSUB is performed. The subroutine
or program that the GOSUB branches to is selected by the ON program (ONP) command.
The ONUS command must be enabled using the ONCOND command before any branching will occur. Once a
branch to the ONP program occurs, ONUS command will not call the ONP program while the ONP program is
executing, eliminating the possibility of recursive calls. After returning from the ONP program, the user
status bit pattern specified by the ONUS command must evaluate false before another branch to the ONP
program, resulting from the ONUS status bits, will be allowed.
Example:
ONUSxxx1 ; On user status bit #4 (axis status bit 14) GOSUB to
; the ONP program
ONCOND0100 ; Enable ONUS condition

ONVARA On Variable 1 Condition Gosub
Syntax <a_!><%>ONVARA<i,i,i> GT6K 6.0
Units See below
GV6K 6.0
Range ±999,999,999.99999999
Default +0.0,+0.0,+0.0
Response ONVARA: *ONVARA+0.0,+0.0,+0.0
See Also ONCOND, ONP, ONVARB, VAR, VARI
The ONVARA command specifies the low and high values which will cause a branch to the ON program
(ONP). If the value of variable 1 is less than or equal to the first i, or greater than or equal to the second i, a
GOSUB is performed. The subroutine or program that the GOSUB branches to is selected by the ON
program (ONP) command. If the third field is non-zero, integer variables (VARI) are used for the
comparison.
The ONVARA command must be enabled using the ONCOND command before any branching will occur. Once
a branch to the ONP program occurs, the ONVARA command will not call the ONP program while the ONP
variable 1 must be reset to a value within the low and high values before another branch to the ONP
program, resulting from the value of variable 1, will be allowed.
Example:
ONVARA0,12 ; On VAR1 <= 0, or VAR1 >= 12 GOSUB to ONP program
ONCOND0010 ; Enable ONVARA condition
ONVARB On Variable 2 Condition Gosub

Syntax <a_><!><%>ONVARB<i,i,i> GT6K 6.0
Units See below
GV6K 6.0
Range ±999,999,999.99999999
Default +0.0,+0.0,+0.0
Response ONVARB: *ONVARB+0.0,+0.0,+0.0
See Also ONCOND, ONP, ONVARA, VAR, VARI
The ONVARB command specifies the low and high values which will cause a branch to the ON program
(ONP). If the value of variable 2 is less than or equal to the first i, or greater than or equal to the second i, a
GOSUB is performed. The subroutine or program that the GOSUB branches to is selected by the ON
program (ONP) command. If the third field is non-zero, integer variables (VARI) are used for the comparison.
The ONVARB command must be enabled using the ONCOND command before any branching will occur. Once
a branch to the ONP program occurs, the ONVARB command will not call the ONP program while the ONP
variable 2 must be reset to a value within the low and high values before another branch to the ONP
program, resulting from the value of variable 1, will be allowed.
Example:
ONVARB0,12 ; On VAR2 <= 0, or VAR2 >= 12 GOSUB to ONP program
ONCOND0001 ; Enable ONVARB condition

[ OR ] Or
Type Operator (Logical) Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ AND ], IF, [ NOT ], NWHILE, REPEAT, UNTIL, WAIT, WHILE
Use the OR command as a logical operator in a program flow control command (IF, REPEAT, UNTIL, WHILE,
NWHILE, WAIT). The OR command logically links two expressions. If either of the two expressions are true, and
are linked with an OR command, then the whole statement is true. This is illustrated by the following examples.
If VAR1=1 and VAR2=1 then, even though variable 2 is not greater than 3, this is a true statement:
IF(VAR1>0 OR VAR2>3). This statement would not be true: IF(VAR1<>1 OR VAR2=2).
To evaluate an expression (Expression 1 OR Expression 2 = Result) to determine if the whole expression is

true, use the following rule:
TRUE OR TRUE = TRUE FALSE OR TRUE = TRUE
TRUE OR FALSE = TRUE FALSE OR FALSE = FALSE
Example:
IF(VAR1=1 OR IN=b1XXX) ; Compare variable 1 to 1, and check for input #1
; to be active
WRITE"FIRST EXAMPLE" ; If either condition is true, write out FIRST EXAMPLE
ORES Resolution of Step & Direction Output (GT6K) or Encoder Output (GV6K)
Type Drive Configuration; Outputs Product Rev
Syntax <a_><!>ORES (does not take effect until RESET, DRESET or GT6K 6.0
Units Rotary motors: i = counts/rev
Linear motors: i = counts/electrical pitch
Range GT6K: 200 - 128000; 0 to disable
GV6K: 200 - 1073741823; 0 to disable
Default GT6K: 0
GV6K: 4000
Response ORES *ORES4000
See Also DMEPIT, DMTR, DRES, ERES, TASX, TER, TPC, TPE
command.
AUTO-SETUP for GV6K Drives: This command is automatically set according to the Parker motor selected
with the configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are
not using a Parker Motor, this command is set to zero and you will have to manually set this parameter. Refer
to DMTR for a list of auto-configured commands.
NOTE: ORES0 disables this output function.
GT6K: The ORES command sets the resolution of the auxiliary step & direction output (pins 14-17 on the
DRIVE I/O connector).
GV6K: The ORES command sets the resolution of the encoder output (pins 14-19 on the DRIVE I/O
connector).
Maximum Frequency
The Maximum output frequency (post quadrature) of the hardware generating the ORES
functionality is 2.5 MHz. If the maximum output frequency is exceeded, the drive will fault

(causes a DRIVE0 and sets TASX bit #29). The following equation dictates the maximum allowable
ORES value for a given maximum motor velocity:
2500000
ORES ≤
Maximum Velocity
For example, if a rotary application requires a maximum velocity of 100 revs/sec, the maximum
ORES value would be ORES25000.
Maximum Frequency in Bypass Mode (GV6K only): When ORES = ERES, the encoder bypass
mode is activated, which allows the native encoder counts to pass directly through the drive. The
maximum encoder frequency in encoder bypass is 2.0 MHz pre-quadrature (8 MHz post-
quadrature). For resolver motors, the native resolution of the R/D converter (4096 counts/rev post
quadrature) is passed through directly.
Refer to the Hardware Installation Guide for specifications and installation instructions for the encoder
output.
OUT Output State

Syntax <a_><!><@>OUT... GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (off), 1 (on) or X (don't change
Default 0
Response n/a
See Also OUTALL, OUTEN, OUTFNC, OUTLVL, OUTP, TIO, TOUT
You can use the OUT command to turn on/off one or more of the digital outputs on the DRIVE I/O connector, as
well as the relay output (labeled “RELAY COM” and “RELAY N.O.”) on the 4-pin removable connector.
Output # Pin # GT6K & GV6K Function (OUTFNC default )
1 41 OUTFNC1-A (General-purpose)
7 Relay OUTFNC7-F (Fault)
OUT
You may also use the OUT command to control outputs on external I/O bricks.
NOTE: You may use OUT to control only the outputs defined as “general-purpose” outputs with the
OUTFNCi-A command. If you attempt to change the state of an output that is not defined as general-purpose
output, the drive will respond with an error message (“OUTPUT BIT USED AS OUTFNC”) and the OUT
command will not be executed (but command processing will continue)
The number of external outputs varies by the configuration of I/O bricks used. Refer to page 8 for details.
If you wish to affect only one output, instead of all outputs, use the bit select (.) operator followed by the
number of the specific output. For example, OUT.5-1 turns on output #5.

Onboard Outputs (on the “DRIVE I/O” connector) — Relationships:
Relationships: OUTLVL Setting OUT State * Current TOUT status
OUTLVL0 (default) OUT1 Sinking current 1
OUTLVL0 OUT0 No current flow 0
OUTLVL1 OUT0 Sinking current 0
* The output is “active” when it is commanded by the OUT, OUTP, or
POUT command (for example, OUTxx1 activates output #3).
Expansion I/O Outputs (on an EVM32) — Interrelationships:

Output Type OUTLVL Setting OUT State * Current OUT/TOUT status LED
NPN (sinking) OUTLVL0 (default) OUT1 Sinking current 1 ON
NPN OUTLVL0 (default) OUT0 No current flow 0 OFF
NPN OUTLVL1 OUT1 No current flow 1 OFF
NPN OUTLVL1 OUT0 Sinking current 0 ON
PNP (sourcing) OUTLVL0 OUT1 No current flow 1 OFF
PNP OUTLVL0 OUT0 Sourcing current 0 ON
PNP OUTLVL1 (default) OUT1 Sourcing current 1 ON
PNP OUTLVL1 (default) OUT0 No current flow 0 OFF
Reed Relay OUTLVL0 (default) OUT1 Sinking (closed) 1 ON
Reed Relay OUTLVL0 (default) OUT0 No flow (open) 0 OFF
Reed Relay OUTLVL1 OUT1 No flow (open) 1 OFF
Reed Relay OUTLVL1 OUT0 Sinking (closed) 0 ON
* The output is “active” when it is commanded by the OUT, OUTP, or POUT command (for example,
OUTxx1 activates output #3).
Example:
OUTFNC1-A ; Define output #1 as a general-purpose output
OUTFNC2-A ; Define output #2 as a general-purpose output
OUT11 ; Turn on outputs 1 & 2
OUT.2-0 ; Turn off output 2
1OUT.9-1 ; Turn on output 9 (the 1st I/O point on SIM2) on I/O brick 1
[ OUT ] Output Status

Units n/a
GV6K 6.0
Range b = 0 (off), 1 (on) or X (don't change)
Default 0
Response n/a
See Also OUTALL, OUTEN, OUTFNC, OUTLVL, TIO, TOUT, VARB
Use the OUT operator to assign the output states to a binary variable (VARB), or to make a comparison
against a binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B)
must be placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X,
x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.
Syntax: VARBn=OUT where “n” is the binary variable number and “” is the number of the I/O
brick where the output resides (not required if addressing the onboard outputs),
or OUT can be used in an expression such as IF(2OUT=b11Ø1), or IF(1OUT=h7F)
The number of external outputs varies by I/O bricks used. See page 8 for details.
The function of the outputs is established with the OUTFNC command (although the OUT operator looks at
all outputs regardless of their assigned function from the OUTFNC command). If it is desired to assign only
one output value to a binary variable, instead of all outputs, the bit select (.) operator can be used, followed

by the number of the specific output. For example, VARB1=2OUT.12 assigns output 12 (the 4th I/O point on
SIM2) on I/O brick 2 to binary variable 1.
Onboard Outputs (on the “DRIVE I/O” connector) — Relationships:

* The output is “active” when it is commanded by the OUT, OUTP, or
POUT command (for example, OUTxx1 activates output #3).
Expansion I/O Outputs (on an EVM32) — Interrelationships:

Example:
VARB1=OUT ; Output status assigned to binary variable 1
VARB2=OUT.4 ; On-board output bit 4 assigned to binary variable 2
; *VARB2=XXX1_XXX
IF(OUT=b110X1) ; If the output status contains 1's for outputs 1, 2, & 5,
; and a 0 for output 4, do the IF statement
OUTALL Output State for Multiple Outputs

Syntax <a_><!><@>OUTALL,, GT6K 6.0
Units 1st i = beginning number of output range
GV6K 6.0
2nd i = ending number of output range
b = enable/disable bit
Range 1st i = 1 to n (n is max. number of outputs available)
2nd i = First i to n
b = 0 (off) or 1 (on)
Default 0
Response n/a
See Also OUT, OUTEN, OUTFNC, OUTLVL, TIO, TOUT
The OUTALL command turns a range of output bits on and off. You may use this command to control any
contiguous range of the onboard outputs, as well as any outputs on external I/O bricks, as long as all
outputs in the range are defined as OUTFNCi-A (general-purpose) outputs. If you attempt to change the
state of an output that is not defined as OUTFNCi-A, the drive will respond with an error message (“OUTPUT
BIT USED AS OUTFNC”) and the OUTALL command will not be executed (but command processing will
continue).

The number of external outputs varies by configuration of I/O bricks used. Refer to page 8 for details.
Example:
OUTALL1,4,1 ; Turn on on-board outputs 1-4
2OUTALL3,8,1 ; On I/O brick 2, turn on outputs at I/O locations 3-8
; (I/O pins 3-8 on SIM1)
OUTBD Brake Output Delay

Syntax <a_><!>OUTBD GT6K 6.0
Units milliseconds GV6K 6.0
Range 0 – 1000
Default 0
Response OUTBD: *OUTBD250
See Also DRIVE, OUTFNC
The OUTBD command specifies the amount of time that the fault output (OUTFNCn-F) will remain asserted
after current is applied to the motor windings with the DRIVE1 command. This allows torque to build up in
the motor while the fault output is still high. This is important in vertical applications, where the motor must
be able to support the load before the brake is released.
OUTEN Output Enable

Type Output or Program Debug Tool Product Rev
Syntax <a_><!><@>OUTEN<d><d><d><d>... (one <d> for each input)
GT6K 6.0
Units n/a
Range d = 0 (Disable output function and turn output off) GV6K 6.0
d = 1 (Disable output function and turn output on)
d = E (Enable output function)
d = X (don't change)
Default E
Response OUTEN: *OUTENEEEE_EEE (onboard outputs)
1OUTEN: *1OUTENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE
1OUTEN.3 *E
See Also OUT, OUTFNC, OUTLVL, TIO, TOUT, TSTAT
Use the OUTEN command to disable any of the outputs from their configured function and set them on or
off. This command is used for troubleshooting and initial start-up testing. It allows you to simulate output
operations by bypassing the configured output function.
The OUTEN command has no effect on onboard outputs when they are configured as output-on-position
outputs with the OUTFNCi-H command.
The number of external outputs varies by configuration of I/O bricks used. Refer to page 8 for details.
Example:
; This allows the user to test if the fault output is working,
; without the inconvenience of trying to force a fault.
1OUTFNC1-B ; Define output #1 on I/O brick 1 as axis moving/not moving
1OUTFNC2-A ; Define output #2 on I/O brick 1 as programmable
1OUTFNC5-F ; Define output #5 on I/O brick 1 as fault output
1OUTENxxxx1 ; Disable programmed function of output #5 on I/O brick 1
; and turn it on

OUTFNC Output Function
Syntax <a_><!>OUTFNC-<c> GT6K 6.0
Units i = output #, c = function identifier (letter)
GV6K 6.0
Range i = 1-32 (I/O brick dependent — see page 8)
c = A-H
Default (see table below)
Response OUTFNC: (function and status of onboard outputs)
1OUTFNC: (function and status of outputs on I/O brick 1)
1OUTFNC1: *1OUTFNC1-A PROGRAMMABLE OUTPUT - STATUS OFF
See Also OUT, OUTEN, OUTLVL, OUTP, OUTPLC, OUTTW, POUT, SMPER, TIO,
TSTAT
Default Function Assignments: outputs on the DRIVE I/O connector, as well as the relay output (labeled “RELAY
COM” and “RELAY N.O.”) on the 4-pin removable connector.
Use the OUTFNC command to define the function for each output. A limit of 32 outputs may be assigned
OUTFNC functions; this excludes A (“general-purpose”) function.
Output bit assignments vary by product. The number of external outputs varies by configuration of I/O
bricks used. Refer to page 8 for details.
Output Scan Rate: The programmable outputs are scanned once per system update (2 milliseconds).
Multitasking. If the OUTFNC command does not include the task identifier (%) prefix, the function affects
the task that executes the OUTFNC command. Only function “C” may be directed to a specific task with the %
prefix (e.g., 2%OUTFNC3-C assigns onboard output 3 as a program-in-progress output for task 2). Multiple
tasks may share the same output, but the output may only be assigned one function.
A General-Purpose Output: A General Purpose output is a standard output. Turn on or off with the
OUT, POUTA, or OUTALL commands to affect external processes. To view the state of the outputs, use
the TOUT command. To use the state of the outputs as a basis for conditional branching or looping
statements (IF, REPEAT, WHILE, etc.), use the [ OUT ] command.
B Moving/Not Moving: Output activates when the axis is moving. As soon as the move is completed,
the output will change to the opposite state.
Servo Axes: With the target zone mode enabled (STRGTE1), the output will not change state until the
move completion criteria set with the STRGTD and STRGTV commands have been met. In this manner,
the output functions as an In Position output.
C Program in Progress: Output activates when a program is being executed. After the program is
finished, the output's state is reversed.
D End-of-Travel Limit Encountered: Output activates when a hard or soft end-of-travel limit has been
encountered. When a limit is encountered, you will not be able to move the motor in that same
direction until you clear the limit by changing direction (D) and issuing a GO command. (An alternative
is to disable the limits with the LH0 command, but this is recommended only if the motor is not
coupled to the load.)

E Stall Indicator (GT6K only): Output activates when a stall is detected. To detect an encoder stall, you
must first connect an encoder and enable stall detection with the ESTALL1 command. To detect a
drive stall (no encoder required),you must enable drive stall detection with the DSTALL1 command.
For details refer to the Programmer's Guide.
F Fault Indicator: Output activates when one or more of these fault conditions exist:
• A User Fault input becomes active. The user fault input is a general-purpose input defined as
a user fault input with the INFNCi-F command.
• The drive was shut down (DRIVE0) or the Enable input was opened (reported with TAS bit
#13), but only if the “fault on drive disable” function is enabled with FLTDSB1.
• Drive fault(s) occurred (TAS bit 14 is set).
• Other drive and motor fault conditions – refer to the status bits denoted with an asterisk (*) in
the TAS and TASX descriptions.
G Position Error Exceeds Max. Limit (GV6K Only): Output activates when the maximum allowable
position error, as defined with the SMPER command, is exceeded. The position error (TPER) is defined
as the difference between the commanded position (TPC) and the actual position as measured by the
feedback device. When the maximum position error is exceeded (usually due to instability or loss of
position feedback from the feedback device), the drive is shut down and TER (error status) bit #12 and
TAS (axis status) bit #23 are set. If the SMPER command is set to zero (SMPER0), the position error will
not be monitored; thus, the Position Error output function will not be usable.
H Output On Position: Output activates when the axis is at a specified position (servo axes can use
encoder position only; stepper axes can use commanded position or encoder position, depending on
the ENCCNT setting for that axis). Output On Position function parameters are configured with the
OUTPA command. Applicable only to onboard output #1 (pin #41on the “DRIVE I/O” connector).
Example:
1OUTFNC1-3B ; Define output #1 on I/O brick 1 as moving/not moving output
1OUTFNC2-D ; Define output #2 on I/O brick 1 to go active when any of
; the limits are hit
OUTLVL Output Active Level

Syntax <a_><!><@>OUTLVL... GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (active low), 1 (active high) or X (don't change)
Default Onboard outputs: 0
Expansion I/O outputs: 0 for NPN outputs, 1 for PNP outputs
Response OUTLVL: *OUTLVL0000_000 (onboard outputs)
1OUTLVL: *1OUTLVL0000_0000_0000_0000_0000_0000_0000_0000
1OUTLVL.3 *0
See Also KIOEN, OUT, OUTEN, OUTFNC, OUTP, OUTPLC, OUTTW, POUT, TOUT
The OUTLVL command defines the active state of each programmable output. The factory default state is
active low for the digital outputs on the DRIVE I/O connector, and normally open for the relay output
(labeled “RELAY COM” and “RELAY N.O.”) on the 4-pin removable connector.
OUTLVL bit assignments (bits are numbered 1-7 from left to right):
*OUTLVLbbbb_bbb
Output # Pin # Default OUTFNC Function

bit 1
bit 7

NOTE: The OUTLVL setting is NOT saved in battery-backed RAM; therefore, on power up or reset, the
OUTLVL setting will default to the factory default setting (thus, the OUTLVL command is a good candidate
for inclusion in your STARTP program).
The number of external outputs varies by the configuration of I/O bricks used. Refer to page 8 for details.
Onboard Outputs
* The output is “active” when it is commanded by the OUT command
(for example, OUTxx1 activates output #3).
Outputs on Expansion I/O Bricks:

• Sinking vs. Sourcing Outputs. On power up, the Gem6K drive auto-detects the type of output SIM
installed on each external I/O brick, and automatically changes the OUTLVL setting accordingly. If
sinking (NPN) outputs or Reed Relay outputs are detected, OUTLVL is set to active low (OUTLVL0); if
sourcing (PNP) outputs are detected, OUTLVL is set to active high (OUTLVL1).
• Disconnect I/O Brick. If the I/O brick is disconnected (or if it loses power), the drive will perform a
kill (all tasks) and set error bit #18. (If you disable the “Kill on I/O Disconnect” mode with KIOENØ,
the Gem6K will not perform the kill.) The drive will remember the brick configuration (volatile
memory) in effect at the time the disconnection occurred. When you reconnect the I/O brick, the drive
checks to see if anything changed (SIM by SIM) from the state when it was disconnected. If an
existing SIM slot is changed (different SIM, vacant SIM slot, or jumper setting), the drive will set the
SIM to factory default INEN and OUTLVL settings. If a new SIM is installed where there was none
before, the new SIM is auto-configured to factory defaults.
• Relationships: Output Type OUTLVL Setting OUT State * Current OUT/TOUT status LED
Example:
OUTLVL1x0 ; Configure onboard output 1 to be active high, output 2 unchanged,
; and output 3 as active low

OUTPA Output on Position
Syntax <!>OUTPA,,<r>, GT6K 6.0
Units 1st & 2nd b = enable/modal bits;
GV6K 6.0
r = scalable distance
i = time (ms)
Range 1st b = 1 (enable output on position) or 0 (disable)
2nd b = 1 (incremental position) or 0 (absolute position)
r = -2,147,483,648 to +2,147,483,647
i = 0-65535
Default 0,0,0,0
Response OUTPA: *OUTPA0,0,+0,0
See Also ENCCNT, [ OUT ], OUT, OUTFNC, PSET, SFB
Use the OUTPA command to configure onboard output #1 (pin #41 on the DRIVE I/O connector) to activate
based on the specified position of the axis. The position referenced is dependent upon whether the axis is a
servo or stepper:
• GV6K Servo: The referenced position is the feedback position.
• GT6K Stepper: The referenced position depends on the ENCCNT setting at the time the OUTPA
command is executed. If ENCCNT0 (factory default), the commanded position is used, if ENCCNT1,
the encoder position is used.
To use the OUTPA command, you must first use the OUTFNC1-H command to configure onboard output #1
to function as an output on position output. Refer to the programming example below.
Syntax:
OUTPA <r> 
Output Specifier: Time (milliseconds):

A ... Turn on output 1 based on position Time (milliseconds) the output is to stay active.
The output activates when the specified
position (< r > ) is reached or exceeded, and
stays active for the specified time.
Enable Bit:
1 ... Enable the output-on-positon function If this field is set to zero, the
0 ... Disable the output-on-positon function output will stay active for as long as the actual
distance equals or exceeds the position
Servo Axes: If an SFB command is executed, comparison distance (this is possible only for
the function is disabled. an absolute position comparison).
Incremental or Absolute Position Comparison: Position:

1 ... Set position comparison to incremental Scalable distance (distance is either
(measured from the last start-motion incremental or absolute, depending on the
command, such as GO, GOWHEN, etc.) second data field.
0 ... Set position comparison to absolute
Servo Axes:
Only encoder or resolver position can be used.
Stepper Axes:
- If ENCCNT0, the commanded position is used.
- If ENCCNT1, the encoder position is used.
NOTE
The output activates only during motion; therefore, issuing a PSET command to set the
absolute position counter to activate the output on position will not turn on the output until
the next motion occurs.
Example (servo axes):

OUTFNC1-H ; Set onboard output #1 as an "output on position" output
OUTPA1,0,+50000,50 ; Turn on onboard output #1 for 50 ms when the encoder
; position is > or = absolute position +50,000

OUTPLC Establish PLC Strobe Outputs
Syntax <a_><!>OUTPLC,<i-i>,, GT6K 6.0
Units See below
GV6K 6.0
Range See below
Default 1,0-0,0,0
Response OUTPLC1: *0-0,0,0 (onboard outputs referenced)
See Also INPLC, OUT, OUTEN, OUTFNC, OUTLVL, OUTTW, [ TW ]
The OUTPLC command with its corresponding INPLC command configures the applicable inputs and
outputs to read data from a parallel I/O device such as a PLC (Programmable Logic Controller), or a
passive thumbwheel module. The actual data transfer occurs with the TW command. Refer to the TW
command for a description of the data transfer process.
The OUTPLC command has four fields (,<i-i>,,):

Field 1: Set #: There are 4 possible OUTPLC sets (1-4). This field identifies which set to use.
Field 2: <i-i> Strobe Output #s: Data reads with the TW command are strobed by the outputs selected
in this field. The first number is the first output, and the second number is the last output.
The outputs must be consecutive. The number of outputs should equal half the number of
the maximum number of BCD digits required. If 6 digits are being read, then three outputs
are needed as each output strobe selects two BCD digits. Refer to page 8 for help in
identifying which output bits are available to place in this field.
Field 3: TW Command Pending: This field identifies an output that becomes active on a TW
command and then turns off on completion of the TW command. This output can signal a
device that a TW command is pending. A zero in this field will not activate any output.
Field 4: Strobe Time: This field identifies the length of time an output will stay active in order to
read the BCD digits. The strobe time (in milliseconds) should be greater than the PLC
scan time, if a PLC is being used, or set greater than the minimal debounce time if using
thumbwheels. Range = 1 - 5000 milliseconds.
To disable a specific PLC set, enter OUTPLCn,Ø-Ø,Ø,Ø where n is the PLC set (1-4).
Example:
1INPLC2,1-8,9,10 ; Set INPLC set 2 as BCD digits on inputs 1-8 on I/O brick 1,
; with input 9 as the sign bit, and input 10 as the data valid bit
OUTPLC2,1-4,5,50 ; Set OUTPLC set 2 as output strobes on onboard outputs 1-4,
; with output 5 as the command pending bit, and strobe time
; of 50 milliseconds
A(TW6) ; Read data into acceleration using INPLC set 2
; and OUTPLC set 2 as the data configuration
OUTTW Establish Thumbwheel Strobe Outputs

Syntax <a_><!>OUTTW,<i-i>,, GT6K 6.0
Units See below
GV6K 6.0
Range See below
Default 1,0-0,0,0
Response OUTTW1: *0-0,0,0 (onboard outputs referenced)
See Also INSTW, OUT, OUTEN, OUTFNC, OUTLVL, OUTPLC, [ TW ]
The OUTTW command with its corresponding INSTW command configure the applicable inputs and outputs
to read data from an active thumbwheel device. The actual data transfer occurs with the TW command.
Refer to the TW command for a description of the data transfer process.
The OUTTW command has four fields (,<i-i>,,):

Field 1: Set #: There are 4 possible OUTTW sets (1-4). This field identifies which set to use.
Field 2: <i-i> Strobe Output #s: Data reads with the TW command are strobed by the outputs selected
in this field. The first number is the first output, and the second number is the last output.
The outputs must be consecutive. The number of outputs should be compatible to the
thumbwheel device. Refer to page 8 for help in identifying which output bits are available
to place in this field.
Field 3: Thumbwheel Enable Output: This field identifies an output that becomes active on a TW
command and then turns off on completion of the TW command. This output can enable a
thumbwheel module to respond, thus allowing multiple thumbwheels to be wired to the
inputs and outputs. A zero in this field will not activate any output.
Field 4: Strobe Time: This field identifies the length of time an output will stay active to read the
BCD digits. The strobe time (in milliseconds) should be set to a minimal debounce time.
Range = 1-5000 milliseconds.
Example:
INSTW2,1-4,5 ; Set INSTW set 2 as BCD digits on onboard inputs 1-4, with
; input 5 as the sign bit
OUTTW2,1-3,4,50 ; Set OUTTW set 2 as output strobes on onboard outputs 1-3,
; with onboard output 4 as the output enable bit, and
A(TW2) ; Read data into acceleration using INSTW set 2 and
; OUTTW set 2 as the data configuration
[ PC ] Position Commanded
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ERES, [ FB ], GOWHEN, [ PCC ], [ PE ], [ PER ], PSET, SCALE,
SCLD, SMPER, TAS, TFB, TPC, TPCC, TPE, TPER
Use the PC operator to assign the current commanded position (scalable by SCLD) to a variable, or to make
a comparison against another value. If you issue a PSET command, the commanded position value will be
offset by the PSET command value.
Servo Axes: The PC value is measured in encoder or resolver counts. The commanded position (PC) and
the actual position (FB) are used in the control algorithm to calculate the position error (PC -
FB = PER) and thereby determine the corrective control signal.
Stepper Axes: The PC value is measured in commanded counts (“motor counts”).
Syntax: VARn=PC where “n” is the variable number; or PC can be used in an expression such as
IF(PC>5Ø).
Example:
VAR1=PC ; Commanded position is assigned to variable 1
IF(PC<50) ; If the commanded position is <50, do the IF statement
VAR2=PC+500 ; Commanded position plus 500 is assigned to variable 2

[ PCC ] Captured Commanded Position
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ENCCNT, INFNC, [ PC ], [ PCMS ], PSET, SCALE, SCLD, SFB,
[ TRIG ], TRGLOT, TPC, TPCC, TTRIG
Use the PCC operator to assign the captured commanded position to a variable, or to make a comparison
against another value.
Syntax: VARn=PCCc where “n” is the variable number, and “c” designates trigger A or B, or M for the MASTER TRIG
input; or PCC can be used in an expression such as IF(PCCB>2345Ø).
General-purpose inputs on the DRIVE I/O connector:

be on Input #5)
About Position Capture: The commanded position can be captured only by an input that is defined as a
“trigger interrupt” input with the INFNCi-H command (see INFNC for details). When a “trigger interrupt”
input is activated, the commanded position is captured and the position is available through the use of the
PCC operator and the TPCC display command.
Note for Stepper Axes: By default, stepper axes capture only the commanded position. However, if the
axis has Encoder Capture Mode enabled with the ENCCNT command, only the encoder position is captured.
Position Capture Status, Longevity of Captured Position: Use the TTRIG and TRIG commands to
ascertain if a trigger interrupt input has been activated. TTRIG displays the status as a binary report, and
TRIG is an assignment/comparison operator for using the status information in a conditional expression
(e.g., in an IF statement). Once the captured commanded position value is assigned/compared with the PCC
operator, the TTRIG/TRIG status bit for that trigger input is cleared; but the position information remains
available until it is overwritten by a subsequent position capture from the same trigger input.
Position Capture Accuracy: The commanded position capture accuracy is ±1 count.
Scaling and Position Offset: If scaling is enabled (SCALE1), the commanded position is scaled by the
distance scaling factor (SCLD). If scaling is not enabled (SCALEØ), the value assigned will be actual
commanded counts. If you issue a PSET (establish absolute position reference) command, any previously
captured commanded positions will be offset by the PSET command value.
Example:
INFNC1-H ; Assign input 1 as TRIG-A input
VAR1=PCCA ; Assign captured commanded position to variable 1
; (position was captured when trigger input TRIG-A became active)
IF(PCCA<40) ; If the captured commanded position is less than 40, do the
; IF statement
VAR2=PCCA+10 ; Add 10 to the captured commanded position (captured when
; trigger input TRIG-A became active) and assign the sum to
; variable #2

[ PCE ] Position of Captured Encoder
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ENCCNT, INFNC, [ PCMS ], [ PE ], PSET, SCALE, SCLD, SFB, TPCE,
[ TRIG ], TRGLOT, TTRIG
Use the PCE operator to assign the captured encoder position to a variable, or to make a comparison against
another value.
Syntax: VARn=PCEc where “n” is the variable number, and “c” designates trigger A or B, or M for the MASTER TRIG
input; or PCE can be used in an expression such as IF(PCEB>2345Ø).
Inputs on the DRIVE I/O connector:

be on Input #5)
About Position Capture: The encoder position can be captured only by an input that is defined as a
“trigger interrupt” input with the INFNCi-H command (see INFNC command). When a “trigger interrupt”
input is activated, the encoder position is captured and the position is available through the use of the PCE
operator and the TPCE display command. Stepper Axes: By default, stepper axes capture only the
commanded position. To capture the encoder position, the axis must be in the Encoder Capture Mode (see
ENCCNT command).
(e.g., in an IF statement). Once the captured encoder position value is assigned/compared with the PCE
operator, the TTRIG/TRIG status bit for that trigger input is cleared; but the position information remains
Position Capture Accuracy: The encoder position capture accuracy is ±1 encoder count.
Scaling and Position Offset: If scaling is enabled (SCALE1), the encoder position is scaled by the distance
scaling factor (SCLD). If scaling is not enabled (SCALEØ), the value assigned will be actual encoder counts.
(NOTE: When using a stepper axis operating in ENCCNT1 mode, the PCE value is always encoder counts
and is never scaled by SCLD.) If you issue a PSET (establish absolute position reference) command, any
previously captured encoder positions will be offset by the PSET command value.
Example:
INFNC1-H ; Assign trigger input TRIG-A as trigger interrupt input
VAR1=PCEA ; Assign captured encoder position to variable 1
; (position was captured when trigger input TRIG-A became active)
IF(PCEA<4000) ; If the captured encoder position is less than 4000,
VAR2=PCEA+10 ; Add 10 to the captured encoder position
; (captured when trigger input TRIG-A became active) and
; assign the sum to variable #2

[ PCME ] Position of Captured Master Encoder
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also INFNC, MEPOL, MESND, [ PME ], [ PCMS ], PMECLR, PMESET, TPCME,
TPME, TPCMS
Use the PCME operator to assign the captured master encoder position to a variable, or to make a
comparison against another value. The master encoder is connected to the connector labeled “Master
Encoder.”
Syntax: VARn=PCME where “n” is the variable number; or PCME can be used in an expression such as
IF(PCME>2345Ø).
Inputs on the DRIVE I/O connector:

be on Input #5)
About Position Capture: The master encoder position can be captured only by the Master Trigger input
(input #5), and only when that input is defined as a “trigger interrupt” input with the INFNC5-H command
(see INFNC command). When the “trigger interrupt” input is activated (active edge), the master encoder
position is captured and the position is available through the use of the PCME operator and the TPCME
display command.
(e.g., in an IF statement). Once the captured master encoder position value is assigned/compared with the
PCME operator, TTRIG/TRIG status bit #5 is cleared; but the position information remains available until it
is overwritten by a subsequent position capture from the master trigger input.
Position Capture Accuracy: The master encoder position capture accuracy is ±1 encoder count.
Scaling and Position Offset: The PCME value is always in master encoder counts; it is never scaled. If you
issue a PMESET (establish absolute position reference) command, any previously captured master encoder
positions will be offset by the PMESET command value.
Example:
INFNC5-H ; Assign input #5 as master trigger input (TRIG-M) for the
; master encoder
VAR1=PCME ; Assign captured master encoder position to variable 1
; (position was captured when master trigger became active)
IF(PCME<4000) ; If the captured master encoder position
; (captured when master trigger input became active) is
; less than 4000, do the IF statement
VAR2=PCME+10 ; Add 10 to the captured master encoder position
; (captured when master trigger input became active) and
; assign the sum to variable #2

[ PCMS ] Captured Master Cycle Position
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ENCCNT, FOLMAS, INFNC, [ PCC ], [ PCE ], [ PE ], PSET, SCALE,
SCLMAS, SFB, TPCMS, [ TRIG ], TRGLOT, TTRIG
Use the PCMS operator to assign the captured master cycle position for a follower axis to a variable, or to
PCMS (like PMAS) is unique among position assignment variables, because its value rolls over to zero each
time the entire master cycle length (FMCLEN) has been traveled. Thus, the captured PCMS value is
essentially a snap-shot of the position relative to the master cycle at the time of the capture.
The master must be assigned first (FOLMAS command) before this operator will be useful.
Syntax: VARn=PCMSc where “n” is the variable number, and “c” designates trigger A or B for the axis, or M for the
MASTER TRIG input (see table below); or PCMS can be used in an expression such as IF(PCMSB>2311).

be on Input #5)
About Position Capture: The master cycle position can be captured only by an input that is defined as
input is activated, the master cycle position of the axis is captured and the position is available through the
use of the PCMS operator and the TPCMS display command.
(e.g., in an IF statement). Once the captured master cycle position value is assigned/compared with the
PCMS operator, the TTRIG/TRIG status bit for that trigger input is cleared; but the position information
remains available until it is overwritten by a subsequent position capture from the same trigger input.
Position Capture Accuracy: The master cycle position is interpolated; the capture accuracy is 50 µs
multiplied by the velocity of the axis at the time the trigger input was activated.
Scaling and Position Offset: If scaling is enabled (SCALE1), the master source position is scaled by the
distance scaling factor (SCLMAS). If scaling is not enabled (SCALEØ), the value assigned will be actual
counts from the commanded or encoder master source as selected with the FOLMAS command. If you issue
a PSET (establish absolute position reference) command, any previously captured master cycle positions
will be offset by the PSET command value.

PCOMP Compile a Profile or Program
Type Compiled Motion; PLC Program Product Rev
Syntax <a_><!>PCOMP<t> GT6K 6.0
Units t = text (name of program/path)
GV6K 6.0
Default n/a
Response n/a
See Also DEF, DRES, END, GOBUF, GOWHEN, MEMORY, PEXE, PLOOP, PLCP, PLN,
POUTn, PRUN, SCLD, PUCOMP, SCANP, [ SEG ], [ SS ], TDIR, TMEM,
TRGFN, TSEG, TSS
Use the PCOMP command to compile GOBUF profiles compile PLCP programs for PLC Scan Mode. (For
additional detail on compiled motion, refer to the Custom Profiling chapter in the Programmer's Guide.)
“Programs” vs. “Compiled Profiles & Programs”:
• Programs are defined with the DEF and END commands, as demonstrated in the Program Development
Scenario in the Programmer's Guide.
• Compiled Profiles are defined like programs (using the DEF and END commands), but are compiled with
the PCOMP command and executed with the PRUN command. A compiled profile could be a series of
GOBUF commands.
• Compiled PLC programs are defined with DEF PLCPi and END, compiled with PCOMP, and are normally
executed in the PLC Scan Mode with the SCANP.
Compiling and Storing Compiled Programs:
The Gem6K’s memory has two partitions: one for storing programs (“program” memory) and one for storing
profiles & program segments compiled with the PCOMP command (“compiled” memory). The allocation of
memory to these two areas is controlled with the MEMORY command.
Programs intended to be compiled are stored in program memory. After they are compiled with the PCOMP
command, they remain in program memory and the segments (see segment command list below) from the
compiled profile are stored in compiled memory.
• Compiled Motion segments: GOBUF, PLOOP, GOWHEN, TRGFN, POUTA

• PLC Program segments: IF, ELSE, NIF, L, LN, OUT, EXE, PEXE, VARI, VARB
The TDIR command uses “COMPILED AS A PATH” to denote the programs compiled as a compiled
profile, and “COMPILED AS A PLC PROGRAM” to denote the programs compiled as a PLC programs.
TDIR also reports the amount of program storage available, as does the TSEG command. System status bit
#29 indicates that compiled memory is 75% full, and system status bit #30 indicates that compiled memory is
completely full. (Use TSSF, TSS and SS to work with system status bits.)
If a compile (PCOMP) fails, system status bit #31 (see TSSF, TSS and SS) will be set. This status bit is cleared
on power-up, reset, or after a successful compile. Possible causes for a failed compile are:
• Errors in profile design (e.g., change direction while at non-zero velocity; distance and velocity equate
to < 1 count/system update; preset move profile ends in non-zero velocity).
• Profile will cause a Following error (see TFSF, TFS and [FS] commands).
• Out of memory (see system status bit #30).
• Axis already in motion at the time of a PCOMP command.
• Loop programming errors (e.g., no matching PLOOP or PLN; more than four embedded PLOOP/END
loops).
• PLCP program contains invalid commands or command parameters.
Conditions That Require a Re-Compile (Compiled Motion only):
• If it is desired to change a compiled path's velocity, acceleration, or deceleration, the values must be
changed and then the path must be re-compiled.
• If the scaling factors are changed, the program must be downloaded again.
• Compiled Motion ONLY: After compiling (PCOMP) and running (PRUN) a compiled profile, the profile
segments will be deleted from compiled memory if you cycle power or issue a RESET command.

COMPILED MOTION
When using compiled loops (PLOOP and PLN), the last segment within the loop must end at zero velocity
or there must be a final GOBUF segment placed outside the loop. Otherwise an error will result when the
profile is compiled. The error is “ERROR: MOTION ENDS IN NON-ZERO VELOCITY”.
PLC PROGRAM EXAMPLE: see PLCP command description.

COMPILED MOTION EXAMPLE (see profile below)
A10 ; Set A, V, and D values
V2
D2000
GOBUF1 ; First segment of motion
V4 ; New A, V, and D values
AD50
D1000
GOBUF1 ; Second segment
PCOMP prog2 ; Compile prog2
PRUN prog2 ; Execute prog2
velocity
distance
1000 2000 3000
[ PE ] Position of Encoder
Units Encoder counts, or scaled by SCLD
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ENCCNT, [ FB ], GOWHEN, INFNC, [ PC ], [ PCE ], [ PER ],
PESET, PSET, SCALE, SCLD, SFB, TFB, TPE
The PE operator is used to assign one of the encoder register values to a variable, or to make a comparison
against another value.
Stepper axes: If the ENCCNT1 mode is enabled PE reports the encoder position, but in ENCCNT0 mode (the
factory default setting) the PE report represents the commanded position. NOTE: When operating in
ENCCNT1 mode, the PE value is always encoder counts and is never scaled by SCLD.
UNITS OF MEASURE and SCALING: refer to page 16 or to the SCLD command.
If you issue a PSET command, the encoder position value will be offset by the PSET command value. If you
are using a stepper axis in the ENCCNT1 mode, use the PESET command instead.
Syntax: VARn=PE where “n” is the variable number, or PE can be used in an expression such as
IF(PE>2345Ø).
Example:
VAR1=PE ; Encoder position is assigned to variable 1
IF(PE<4000) ; If the encoder position is less than 4000,
VAR2=PE+4000 ; Encoder position plus 4000 is assigned
; to variable 2

[ PER ] Position Error

Syntax See below GT6K n/a
Units n/a
GV6K 6.0
Range n/a
Default n/a (applicable only to
Response n/a servo axes)
See Also DRES, ERES, SCLD, SFB, SMPER, TAS, TPER, TPE, TPC
The PER operator is used to assign the current position error to a variable, or to make a comparison against
another value. The value assigned to the variable or the value against which the comparison is made is
measured in feedback device counts and is scaled by the distance scaling factor (SCLD), if scaling is
enabled with the SCALE1 command.
The position error is the difference between the commanded position and the actual position read by the
feedback device. This error is calculated every sample period and can be displayed at any time using the
TPER command.
Syntax: VARn=PER where “n” is the variable number, or PER can be used in an expression such as
IF(0PER>5Ø).
Example:
VAR1=PER ; Position error is assigned to variable 1
IF(PER>2000) ; If the position error is >2000 encoder counts,
; do the IF statement (enable output #4)
OUTXXX1 ; Enable onboard output #4
PESET Encoder Absolute Position Reference - Stepper Axes

Syntax <a_><!>PESET<r> GT6K 6.0
Units r = units (absolute position of encoder)
GV6K n/a
Range ±999,999,999.99999
Default n/a (applicable to stepper
Response n/a axes only)
See Also ENCCNT, INFNC, [ PCE ], [ PE ], PMESET, PSET, SCALE, SCLD,
TPCE, TPE
Use the PESET command to offset the current encoder absolute position to establish an absolute position
reference for the encoder reports (TPE, PE, TPCE, PCE). All PESET values entered are in encoder steps,
scalable by the SCLD value if scaling is enabled.
NOTE: If you issue a PESET command, any previously captured encoder positions (INFNCi-H or
LIMFNCi-H function) will be offset by the PESET value.
Example:
ENCCNT1 ; Place axis in the encoder count referencing mode
PESET0 ; Set absolute position to zero
TPE ; Display the new position. The new encoder position
; report should be: *TPE0
PESET1000 ; Set absolute position to 1000 units
TPE ; Display the new position. The new encoder position
; report should be: *TPE1000

PEXE Execute a Compiled Program
Type PLC Mode Compiled Program Execution Product Rev
Syntax i%PEXEt GT6K 6.0
Units i = Task Number
GV6K 6.0
t = Program Name (6 characters or less)
Range i = 1-10
Default n/a
Response n/a
See Also EXE, GOBUF, PCOMP, PLCP, SCANP
Use the PEXE command to start a compiled PLCP program, or compiled GOBUF profile from within a
compiled PLCP program. The PEXE command specifies the name of the compiled program, and the task in
which it will be launched. The program named in the PEXE command need not be defined or compiled at
the time the PLCP program is compiled; however, the program must be defined and compiled before the
SCANP or PRUN is issued. If no task number is assigned with a % prefix, then the task in which the PLCP
program is compiled (PCOMP) will be the task that runs the compiled program. Note, however, that the
PEXE program cannot be executed in the Task Supervisor (task 0).
The PLCP program will ignore the PEXE command if a currently running program is detected within the
specified task; therefore, the PEXE command can essentially only be used to initiate a new task with the
program it is launching. Like the INSELP command, the program launched by the PEXE command will not
interrupt a currently running program, nor will it interrupt a WAIT or T command. Also, if launching a
GOBUF profile, the PEXE will not interrupt motion already in progress.
CAUTION: Using the SCANP command to run a PLCP program in Scan mode will cause the PLCP program
to execute as often as every system update period (2 ms). A PEXE command used within a PLCP program
running in Scan mode could therefore attempt to launch a program in the specified task as often as every
2 ms. This may not allow enough time for the program launched in the specified task by the PEXE
command to complete before the same PEXE command is issued again. As stated, the PLCP program will
ignore the PEXE command if a currently running program is detected or motion is in progress, so timing
must be considered when launching programs with the PEXE command.
To execute a non-compiled program from within a compiled PLCP program, use the EXE command.
Example:
1%PEXE PLCP2 ; Launch compiled program PLCP2 in task 1
END
OUT(VARB1) ; Modify outputs
END
SCANP PLCP1 ; Scan with program PLCP1
VARB1=h0000 ; Set VARB1
TOUT ; Check outputs (response is *TOUT0000_000)
VARB1=b1010 ; Reassign VARB1
TOUT ; Check outputs again (response is *TOUT1010_000)

[ PI ] PI (π)
Syntax See examples below GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ + ], [ - ], [ * ], [ / ], [ & ], [ | ], [ ^ ], [ ~ ], [ ATAN ],
[ COS ], IF, [ SIN ], [ SQRT ], [ TAN ], VAR
The (PI) command is assigned the value 3.14159265. There are 2π radians in 360°. This command is
useful for doing trigonometric functions in radian units (RADIAN command).
Example:
VAR1=PI ; 3.14159265 is assigned to variable 1
VAR2=2 * PI ; 2 pi is assigned to variable 2
PLCP Compiled PLC Program

Syntax <a_><!>PLCPi GT6K 6.0
Units i = number of PLC program
GV6K 6.0
Range 1-99
Default n/a
Response n/a
See Also ANO, [ ANO ], BREAK, DEF, ELSE, EXE, HALT, IF, L, LN, MEMORY,
NIF, OUT, PCOMP, PEXE, PRUN, PUCOMP, [ SC ], [ SCAN ], SCANP,
TIMST, TIMSTP, TSC, TSCAN, VARI, VARB
PLCP is not a command; it is used to identify a PLCP program to be defined (e.g., DEF PLCP2), compiled
(e.g., PCOMP PLCP2), and executed (e.g., SCANP PLCP2 or PRUN PLCP2). Up to 99 PLCP programs may
be defined, identified as PLCP1, PLCP2, PLCP3, and so on. The purpose of PLCP programs is to facilitate
fast I/O scanning. The process of creating and executing a PLCP program is:
1. Define the PLCP program (DEF PLCPi statement, followed by commands from the list below,
followed by END). Only these commands are allowed in a PLCP program:
• IF, ELSE, and NIF (conditional branching) — see note below for limitations
• L and LN (loops)
• HALT:
- If the PLCP program is executed with SCANP, HALT will terminate the current PLCP
program and kill the SCANP mode.
- If the PLCP program is executed with PRUN, HALT will stop the PLCP program (and the
program that executed the PRUN statement) running in that task.
• BREAK:
- If the PLCP program is executed with SCANP, BREAK will end only the current scan loop.
At the next 2-millsecond update, the scan will restart at the first line of the PLCP program.
- If the PLCP program is executed with PRUN, BREAK will stop the PLCP program and
execution will continue in the program from which the PRUN was executed (resuming at the
command immediately following the PRUN command).
• TIMST and TIMSTP (start and stop the timer)
• OUT (turn on a digital output)
• ANO (set an analog output voltage – requires an extended I/O brick with on an analog output
SIM)
• EXE (execute a program in a specific task — e.g., 2%EXE MOVE)
• PEXE (execute a compiled program in a specific task — e.g., 3%PEXE PLCP4)
• VARI (integer variables).
• VARB (binary variables). Bitwise operations are limited to Boolean And (&), Boolean Inclusive
Or (|), and Boolean Exclusive Or (^).

2. Compile the PLCP program (PCOMP PLCPi). A compiled program runs much faster than a standard
program.
3. Execute the PLCP program (SCANP PLCPi). When the PLCP program is launched with the SCANP
command, it is executed in the “PLC Scan Mode”. The advantage of the PLC Scan Mode is that the
PLCP program is executed within a dedicated 0.5 ms time slot during every 2 ms system update
period. This gives the PLCP program faster throughput for monitoring and manipulating I/O. For more
information on how the PLCP program is executed with SCANP, refer to the SCANP command
description.
An alternative execution method is to use the PRUN command (PRUN PLCPi). This method is similar
to the SCANP PLCPi method, but will only run through the PLCP program once.
Memory Requirements: Most commands allowed in a PLCP program consume one segment of compiled
memory after the program is compiled with PCOMP; the exceptions are VARI and VARB (each consume 2
segments) and IF statements. Each IF conditional evaluation compounded with either an AND or an OR
operator consumes an additional segment (e.g., IF(IN.1=b1 AND AS.1=b0) consumes three segments of
compiled memory). The number of compounds is limited only by the memory available.
Conditional Expressions:
• Order of Evaluation. Because only Get Next Conditional
one level of parenthesis is allowed,

the order of evaluation of IF
conditionals is from left to right. FALSE
Evaluate
TRUE
Refer to the flowchart for the

evaluation logic. NO YES YES NO
Compound = OR? Compound = AND?
• Conditional expressions in a PLC
program use the non-scaled integer Statement Statement
Evaluates FALSE Evaluates TRUE
(“raw”) operand values. Examples
of the “raw” operand values are:
− The PE operator reports encoder counts not scaled by SCLD and not scaled by ERES.
− The ANI operator reports ADC counts from an analog input. Assuming the default ANIRNG4
setting (+/-10V voltage range), 205 ADC counts = 1 volt.
− The ANO operator reports DAC counts commanded to an analog output. The range is 0-4095 counts
over the –10 to +10V range. The calculation is: ANO value = (Vout + 10) x 4095 / 20.
The only operands that are not allowed are: SIN, COS, TAN, ATAN, VCVT, SQRT, VAR, TW, READ, DREAD,
DREADF, DAT, DPTR, and PI.
Programming Example: Refer to the example in the SCANP command description.
PLN End of Loop, Compiled Motion

Syntax <a_>PLN GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response No response; instead ends loop for compiled motion
See Also GOBUF, PCOMP, PLOOP, PRUN, PUCOMP
Use the PLN command to specify the end of a compiled motion profile loop, as initiated with the PLOOP
command.
Programming Example: see PLOOP.

PLOOP Beginning of Loop, Compiled Motion
Syntax <a_>PLOOP GT6K 6.0
Units i = number of times to loop
GV6K 6.0
Range 0-2,147,483,647 (231-1)
0 = infinite loop
Default n/a
Response No response; instead starts loop for compiled motion
See Also GOBUF, PCOMP, PLN, PRUN, PUCOMP
The PLOOP command specifies the beginning of a profile loop. All subsequent segments defined between
the PLOOP and PLN commands are included within that loop. The PLOOP value specifies the number of
loops to be executed. If that number is a zero or blank, then the loop will be executed infinitely. The PLOOP
command can be nested up to four levels deep within a program.
When using compiled loops (PLOOP and PLN), the last segment within the loop must end at zero velocity or
there must be a final GOBUF segment placed outside (after) the loop. Otherwise, an error will result when
the profile is compiled. The error is “ERROR: MOTION ENDS IN NON-ZERO VELOCITY”.
The PLOOP command will consume one segment of compiled space.
Example:
DEF prog1 ; Begin definition of prog1
GOBUF1 ; Segment of motion sent to buffer
PLOOP3 ; Start loop of the subsequent move profile
GOBUF1 ; First segment within loop sent to buffer
GOBUF1 ; Second segment of motion within loop sent to buffer
GOBUF1 ; Third segment within loop sent to buffer
PLN1 ; Close loop
V.5 ; Set velocity to 0.5 units/sec
GOBUF1 ; Segment of motion sent to buffer (outside loop)
[ PMAS ] Current Master Cycle Position

Type Following and Assignment or Comparison Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also FMCNEW, FMCP, FOLMAS, FOLMD, [ FS ], GOWHEN, [ PCMS ], SCALE,
SCLMAS, TPMAS, TFS
The PMAS operator is used to assign the master position register value to a variable, or to make a
comparison against another value. This value may be used for subsequent decision making, or for recording
the cycle position corresponding to some other event.

PMAS is unique among position assignment variables, because its value rolls over to zero each time the
entire master cycle length (FMCLEN value) has been traveled. If it is desired to WAIT or GOWHEN on a master
cycle position of the next master cycle, one master cycle length (value of FMCLEN) should be added to the
master cycle position specified in the argument. This allows commands that sequence follower events
through a master cycle to be placed in a loop. The WAIT or GOWHEN command at the top of the loop could
execute, even though the actual master travel had not finished the previous cycle. This is done to allow a
PMAS value which is equal to the master cycle length to be specified and reliably detected. When using
PMAS with IF, UNTIL, or WHILE arguments, the instantaneous PMAS value is used. Be careful to avoid
specifying PMAS values that are nearly equal to the master cycle length (FMCLEN), because rollover may
occur before a PMAS sample is read.
The master must be assigned first (FOLMAS command) before this command will be useful.
If scaling is enabled (SCALE1), the PMAS value is scaled by the master scaling factor (SCLMAS). If scaling is
disabled (SCALEØ), the PMAS value is in counts.
Syntax: VARn=PMAS where “n” is the variable number; or PMAS can be used in an expression such as
IF(PMAS>2345Ø).
Example: (refer also to FOLEN example #2)

IF(PMAS>4.3) ; If the master has traveled more than 4.3 master user units
; then do the IF statement
OUT.2=b1 ; Set onboard output #2 to 1
VAR14=PMAS ; Set VAR14 to the master cycle position
[ PME ] Position of Master Encoder

Units Master Encoder counts
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also MEPOL, MESND, [ PCME ], [ PE ], PMECLR, PMESET, TPCME,
TPME
Use the PME operator to assign the current master encoder position to a variable, or to make a comparison
against another value. The master encoder is connected to the connector labeled “Master Encoder”. If you
issue a PMESET command, the encoder position value will be offset by the PMESET command value. The
PME value is always in encoder counts, it is never scaled.
Syntax: VARn=PME where “n” is the variable number, or PME can be used in an expression such as
IF(PME>16ØØØ).
Example:
VAR1=PME ; Master encoder position is assigned to variable 1
IF(PME<4000) ; If the master encoder count is less than 4000,
VAR2=PME+4000 ; Master encoder position plus 4000 is assigned to variable 2

PMECLR Clear Master Encoder Absolute Position Reference
Syntax <a_><!>PMECLR<r> GT6K 6.0
Units r = master encoder counts (not scalable)
GV6K 6.0
Range ±999,999,999.99999
Default n/a
Response n/a
See Also MEPOL, MESND, [ PCME ], [ PME ], PMESET, PSET, TPCME, TPME
Use the PMECLR command to remove any offset on the master encoder position reports (offset to master
encoder position is established with the PMESET command).
Example:
TPME ; Report master encoder position. For the sake of this example,
; let's say the response is *TPME10000 (master encoder is at
; absolute position 10,000).
PMESET20000 ; Change relative position of master encoder with offset
TPME ; Report new master encoder position with offset. New position
; response should now be: *TPME20000 (what was considered
; position 10,000 is now considered position 20,000).
PMECLR ; Clear any offset applied to the master encoder position
TPME ; Report master encoder position with no offsets.
; Response should be: *TPME10000.
PMESET Establish Master Encoder Absolute Position Reference

Syntax <a_><!>PMESET<r> GT6K 6.0
Units r = master encoder counts (not scalable)
GV6K 6.0
Range ±999,999,999.99999
Default n/a
Response n/a
See Also MEPOL, MESND, [ PCME ], [ PME ], PMECLR, PSET, TPCME, TPME
Use the PMESET command to offset the current absolute position of the master encoder (connected to the
connector labeled “Master Encoder”) to establish an absolute position reference. To remove the offset,
issue the PMECLR command.
All PMESET values entered are in master encoder counts; this value is never scaled.
Example:
TPME ; Report master encoder position. For the sake of this example,
; let's say the response is *TPME10000 (master encoder is at
; absolute position 10,000).
PMESET20000 ; Change relative position of master encoder with offset
TPME ; Report new master encoder position with offset. New position
; response should now be: *TPME20000 (what was considered
; position 10,000 is now considered position 20,000).
PMECLR ; Clear any offset applied to the master encoder position
TPME ; Report master encoder position with no offsets.
; Response should be: *TPME10000.

PORT Designate Destination Communication (“COM”) Port
Syntax <a_><!>PORT GT6K 6.0
Units i = port number
GV6K 6.0
Range 0 (set to active port), 1 (COM1), or 2 (COM2)
NOTE: “COM1” is the “RS-232/485” or “ETHERNET” connector.
“COM2” is the “RS-232” connector.
Default 1
Response PORT: *PORT1
See Also ], [, BOT, DRPCHK, E, EOL, EOT, ERRDEF, ERRLVL, ERROK, ERRBAD,
LOCK, [READ], WRITE, XONOFF
The PORT command is used to determine which COM port is affected by the DRPCHK, E, ECHO, BOT, EOL,
EOT, ERROK, ERRBAD, ERRDEF, ERRLVL, and XONOFF commands. It also specifies the port to which
responses and prompts from stored programs should be sent.
The PORT command also selects the target port through which the WRITE and READ commands transmit
ASCII text strings. The DWRITE command (as well as all other RP240 commands) will affect the RP240
regardless of the PORT command setting. If no RP240 is detected, the commands are sent to the COM2
port. DWRITE text strings are always terminated with a carriage return.
You can use the PORT0 command to set the PORT value to the port through which the command was
received. For example, if your computer is connected to the RS-232/485 port (COM1) and you send the
PORT0 command, the PORT value will be changed to PORT1 and all subsequent communication commands
will affect the COM1 port.
Example (The PORT command can be used to designate EOT parameters for both ports. Assume that port COM1 is
being used to communicate to the Gem6K drive.)
PORT1 ; Select COM1 for EOT setup
EOT45,49,10 ; EOT for COM1 is -1<lf>
TPE ; Send "Transfer Position of Encoder" response to COM1
; using EOT 45,49,10
PORT2 ; Select COM2 for EOT setup
TPC ; Send "Transfer Commanded Position" response to COM2
Example (The PORT command specifies both port setups and response destinations in a stored program.)
DEF qwe ; Begin definition of qwe
PORT1
TPE ; Send "Transfer Position of Encoder" response to COM1
PORT2
TPC ; Send "Transfer Commanded Position" response to COM2
END ; End definition of qwe
POUTA Compiled Output

Type Compiled Motion; Outputs Product Rev
Syntax <a_><!>POUTA ... GT6K 6.0
Units b = enable bit for specific outputs (see page 8)
GV6K 6.0
Range b = 0 (off), 1 (on), or X (don't change)
Default 0
Response n/a
See Also GOBUF, OUT, OUTEN, OUTFNC, OUTLVL, PCOMP, PRUN, PUCOMP
Use the POUTA command to control outputs during Compiled Motion. The outputs that can be controlled
are the digital outputs on the DRIVE I/O connector, the relay output (labeled “RELAY COM” and “RELAY
N.O.”) on the 4-pin removable connector, and any outputs on external I/O bricks. Refer to page 8 to

understand how to address the outputs (onboard and on optional expansion I/O bricks) available on the
Gem6K.
POUTA
NOTE: You may use POUTA to control only the outputs defined as “general-purpose” outputs with the
OUTFNCi-A command. If you attempt to change the state of an output that is not defined as a general-purpose
output, the drive will respond with an error message (“OUTPUT BIT USED AS OUTFNC”) and the POUTA
command will not be executed (but command processing will continue).
If you wish to set only one output value, instead of all outputs, use the bit select (.) operator, followed by the
number of the specific output. For example, 2POUTA.12-1 turns on only output 12 on I/O brick 2.
The POUTA command consumes one segment of compiled memory.
The programmable outputs are sampled once per “system update” (2 ms).
Example:
OUTFNC3-A ; Default output function for onboard output 3
OUTFNC6-A ; Default output function for onboard output 6
DEF P1 ; Define program P1
D1000 ; Set distance to travel
GOBUF1 ; Motion segment
POUTA.3-1 ; Turn on output 3 when the axis travels 1000 counts
D2000 ; New distance commanded
POUTA.3-0 ; When the axis travels 2000 additional counts,
POUTA.6-1 ; turn off output 3 and turn on output 6
D1000 ; New distance commanded
POUTA.6-0 ; Turn off output 6 when the axis travels 1000 additional counts
PCOMP P1 ; Compiled program P1

PRUN P1 ; Execute program P1
When executing a Compiled Following profile, the POUTA statement is always executed as programmed.
Therefore, in order to make sure an output is on for a given motion segment no matter what direction the
master is traveling, you should use two POUTA statements (see example below).
POUTA.3-0 ; Turn off onboard output 3 - master going backwards
POUTA.3-1 ; Turn on onboard output 3 - master going forwards
GOBUF1 ; Motion segments for axis 1
POUTA.3-1 ; Turn on onboard output 3 for axis 1 - master going backwards
POUTA.3-0 ; Turn off onboard output 3 for axis 1 - master going forwards
If you desire to “pulse” an output (turn on for a given amount of time), then use the POUTA command along
with the GOWHEN(T=n) command. For example:
POUTA.3-1 ; Turn on output 3
GOWHEN(T=120) ; Wait for 120 milliseconds
POUTA.3-0 ; Turn off output 3

PRUN Run a Compiled Profile
Syntax <a_><!>PRUN<t> GT6K 6.0
Units t = text (name of path program)
GV6K 6.0
Range text name of 6 characters or less
Default n/a
Response n/a
See Also COMEXC, DEF, END, PCOMP, PUCOMP, GOBUF, PLCP, PLOOP, PLN,
SCANP
Use the PRUN command to start execution of a previously compiled program (a GOBUF profile, or a PLCP
program). All the required information about the program or path whose name is specified in the PRUN
command has already been stored by the definition commands (DEF and END) and compiled by the PCOMP
command.
Executing GOBUF profiles: If the axis is not ready, a GOBUF profile will not be executed. An axis is not
ready if it is shutdown, moving, or in joystick mode. When execution of a pre-compiled program begins,
the axis becomes busy until motion has completed.
Executing PLC programs: When using PRUN to execute a PLCP program, the PLCP program is run only
once (as opposed to invoking a continual scan loop when executing PLCP programs with the SCANP
command).
COMEXC1 mode must be enabled in order for command processing to continue once a motion invoking
command has been initiated with PRUN. If you use the PRUN command within a program while in COMEXC1
mode, it functions as a GO and returns control back to the original program after the embedded program’s
motion is started (control is returned to the first command immediately following the PRUN command). If in
COMEXCØ mode, command processing will not continue until the motion invoking command has completed
its movement.
Example:
DEL prog1 ; Delete prog1
DEF prog1 ; Define prog1
A10 ; Acceleration is 10 revs/sec/sec
AD10 ; Deceleration is 10 revs/sec/sec
V5 ; Velocity is 5 revs/sec
GOBUF1 ; 1st motion segment
V2 ; Velocity is 2 revs/sec
GOBUF1 ; 2nd motion segment
PS Pause Program Execution

Syntax <a_><!>PS GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also C, COMEXR, COMEXS, K, S, [ SS ], TSS
The PS command pauses execution of commands in the command buffer. If a PS command is executed, no
commands after the PS will be executed until a !C command is received. However, additional commands
may still be placed in the command buffer.
The PS command does not pause motion. In order for motion to be paused, the S and the COMEXS
commands should be used.

Example:
PS ; Stop execution of command buffer until !C command
; ********************************************************************
; * NOTE: *
; * No commands after the PS command will be executed until a !C *
; * command is received. *
; ********************************************************************
PSET Establish Absolute Position

Syntax <a_><!>PSET<r> GT6K 6.0
Units r = units (absolute position)
GV6K 6.0
Range ±999,999,999.99999
Default n/a
Response n/a
See Also D, [ FB ], GO, HOM, INFNC, MA, MC, [ PC ], [ PCC ], [ PCE ],
[ PCMS ], [ PE ], PESET, PMESET, SCALE, SCLD, SFB, TFB, TPC,
TPCC, TPCE, TPCMS, TPE
Use the PSET command to offset the current absolute position to establish an absolute position reference.
To remove the offset, issue the PSET CLR command. All PSET values entered are in steps, unless scaling is
enabled (SCALE1), in which case (PSET) is multiplied by the distance scale factor (SCLD).
Steppers – without scaling: The PSET command will define the present commanded position to be the
absolute position entered. To set an encoder absolute position, use the PESET command.
Servos – without scaling: The PSET command defines a new absolute position reference. If the drive is
enabled (DRIVE1), the present commanded position is used as the reference point. If the drive is
disabled (DRIVE0), the present feedback device position (selected with the SFB command) is
used as the reference point.
SERVO AXES
The PSET offset value is specific only to the feedback source selected with the last SFB
command.
If your application requires switching between feedback sources, then you must select the
feedback source with the appropriate SFB command and issue a PSET value specific to that
feedback source. (Each feedback source can have a separate offset.)
NOTE: If you issue a PSET command, any previously captured positions (INFNCi-H function) will be
offset by the PSET value.
If a software end-of-travel limit has been hit, the PSET command will not remove the error condition. The
error condition is removed by commanding motion in the opposite direction.
Example:
PSET0 ; Wherever the present actual or commanded position happens to be,
; consider that position to have an absolute position of zero.

[ PSHF ] Net Position Shift
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also FOLEN, FOLMAS, FSHFC, FSHFD, SCALE, SCLD, TPSHF
The PSHF operator is used to assign to a numeric variable the value of the net (absolute) follower axis
position shift that has occurred since that last FOLEN1 command. The position value will be the sum of all
shifts performed on that axis, including decelerations due to limits, kill, or stop. The shift value is set to
zero each time a new FOLEN1 command or a FOLMAS command (with a value other than zero) is issued.
If scaling is enabled (SCALE1), the PSHF value is scaled by the distance scaling factor (SCLD). If scaling is
not enabled, the value is in commanded counts.
Syntax: VARn=PSHF where “n” is the variable number, or PSHF can be used in an expression such as
IF(PSHF>2345Ø).
Example:
IF(PSHF>4.3) ; If the follower axis has shifted more than 4.3 user units in the
; positive direction, then do the IF statement
OUT.2=b1 ; Turn on onboard output #2
VAR14=PSHF ; Set VAR14 to the follower axis’s position shift
[ PSLV ] Current Commanded Position of Follower Axis

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also FMCNEW, FMCP, SCLD, SCALE, TPSLV
Use the PSLV operator to assign the follower axis commanded position register value to a variable, or to
If scaling is enabled (SCALE1), the PSLV value is scaled by the distance scaling factor (SCLD). If scaling is
Syntax: VARn=PSLV where “n” is the variable number, or PSLV can be used in an expression such as
IF(PSLV>2345Ø).
Example:
IF(PSLV>4.3) ; If the follower axis has traveled more than 4.3 user units then
OUT.2=b1 ; Turn on onboard output #2
VAR14=PSLV ; Set VAR14 to the follower axis's position

PUCOMP Un-Compile a Compiled Profile
Syntax <a_><!>PUCOMP<t> GT6K 6.0
Units t = text (name of program)
GV6K 6.0
Default n/a
Response n/a
See Also DEF, END, GOBUF, MEMORY, PCOMP, PLCP, PRUN, SCANP, TDIR, TMEM,
TSEG, GOBUF, PLOOP, PLN
The PUCOMP command is used to delete a previously compiled (PCOMP) program from the compiled
memory. The PUCOMP command does not delete the program from program memory.
Example:
PUCOMP prog1 ; Delete compiled motion segments for prog1
DEL prog1 ; Delete prog1
DEF prog1 ; Begin definition of path named prog1
A50 ; Set acceleration to 50
V10 ; Set velocity to 10
D100000 ; Set D to 100000
GOBUF1
; *********************************************
; * Add multiple GOBUF segment *
; * definitions in this *
; * portion of the *
; * program *
; *********************************************
RADIAN Radian Enable

Type Operators (Trigonometric) Product Rev
Syntax <a_><!>RADIAN GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (Disable),1 (Enable) or X (don't care)
Default 0
Response RADIAN: *RADIAN0
See Also [ ATAN ], [ COS ], [ PI ], [ SIN ], [ TAN ], VAR
This operator is used to switch between radians and degrees. The command RADIAN1 specifies units in
radians for SIN, COS, TAN, and ATAN. The command RADIANØ specifies units in degrees for SIN, COS, TAN,
and ATAN.
If a value is given in radians and a conversion is needed to degrees, use the formula: 360° = 2π radians.
Example:
RADIAN1 ; Set trigonometric functions to radian mode

RE Registration Enable
Type Registration Product Rev
Syntax <a_><!>RE GT6K 6.0
Units b = 0 (disable), 1 (enable)
GV6K 6.0
Range n/a
Default 0
Response RE: *RE0
See Also [ AS ], COMEXC, [ ER ], INFNC, [ PCC ], [ PCE ], [ PCMS ],
REG, REGLOD, REGSS, TAS, TER, TPCC, TPCE, TPCMS, TRGLOT,
[ TRIG ], TTRIG
The RE command enables the registration feature. When a registration input (an input assigned the “Trigger
Interrupt” function with the INFNCi-H command) is activated, the motion profile currently being executed
is replaced by a registration profile with its own distance (REG), acceleration (A & AA), deceleration (AD &
ADA), and velocity (V) values. The registration move may interrupt any preset (MC0), continuous (MC1), or
registration move in progress.
The registration move does not alter the rest of the program being executed when registration occurs, nor
does it affect commands being executed in the background if the Gem6K is operating in the continuous
command execution mode (COMEXC1).
Registration moves will not be executed while the motor is not performing a move, while in the joystick
mode (JOY1), or while decelerating due to a stop, kill, soft limit, or hard limit.
How to Set up a Registration Move

1. Use the INFNC1-H or INFNC2-H command to configure onboard input 1 or 2 as a trigger input
(TRIG A or TRIG B, respectively). TRIG M, the MASTER TRIGGER, may not be used for registration.
2. Specify the distance of the registration move with the REG command. For servo axes, the distance
refers to the encoder position. For stepper axes, the distance refers to commanded position.
3. Enable the registration function with the RE1 command. Registration is performed only when
there is a non-zero distance specified by the REG command.
NOTE: The registration move is executed using the A, AA, AD, ADA, and V values that were in
effect when the REG command was entered.
Registration Move Accuracy (see also Registration Move Status below)

The accuracy of the registration move distance specified with the REG command is ±1 count (servo
axes: encoder count; stepper axes: commanded count )
RULE OF THUMB: To prevent position overshoot, make sure the REG distance is greater than 4 ms
multiplied by the incoming velocity.
The lapse between activating the registration input and commencing the registration move (this does
not affect the move accuracy) is less than one position sample period (2 ms).
The REG distance will be scaled by the distance scale factor (SCLD value) if scaling is enabled
(SCALE1). See page 16 for details on scaling.
Preventing Unwanted Registration Moves (methods)

• Registration Input Debounce: By default, the registration inputs are debounced for 24 ms before
another input on the same trigger is recognized. (The debounce time is the time required between
an input’s initial active transition and its secondary active transition.) If your application requires a
shorter debounce time, you can change it with the TRGLOT command.
• Registration Single-Shot: The REGSS command allows you to program the Gem6K drive to ignore
any registration commands after the first registration move has been initiated. Refer to the REGSS
command description for further details and an application example.

• Registration Lockout Distance: The REGLOD command specifies what distance an axis must travel
before any input assigned as a registration input will be recognized. Refer to the REGLOD
command description for further details and an application example.
Registration Move Status & Error Handling

Axis Status — Bit #28: This status bit is set when a registration move has been initiated by the
registration input. This status bit is cleared with the next GO command.
AS.28 ...... Assignment & comparison operator — use in a conditional expression (e.g.,
WAIT(AS.28=b1)).
TASF ........ Full text description of each status bit. (see “Reg Move Commanded” line item)
TAS .......... Binary report of each status bit (bits 1-32 from left to right). See bit #28.
Axis Status — Bit #30: If, when the registration input is activated, the registration move profile
cannot be performed with the specified motion parameters, the Gem6K drive will kill the move in
progress and set axis status bit #30. This status bit is cleared with the next GO command.
AS.30 ...... Assignment & comparison operator — use in a conditional expression.
TASF ........ Full text description of each status bit. (see “Preset Move Overshot” line item)
TAS .......... Binary report of each status bit (bits 1-32 from left to right). See bit #30.
Input Status — Bits #1-5: Check the status of the assigned input to ascertain if it has been activated.
The status reports the present state of the input.
IN.n ........ Comparison operand for IF and WAIT conditional expressions (e.g., IF(IN.2=b1)).
TIN .......... Binary report of each status bit (bits 1-5 from left to right).
Error Status — Bit #10: This status bit may be set if axis status bit #30 is set. The error status is
monitored and reported only if you enable error-checking bit #10 with the ERROR command (e.g.,
ERROR.10-1). NOTE: When the error occurs, the Gem6K will branch to the error program (assigned
with the ERRORP command). This status bit is cleared with the next GO command.
ER.10 ...... Assignment & comparison operator — use in a conditional expression
(e.g., IF(ER.10=b1)).
TERF ........ Full text description of each status bit. (see “Profile Impossible” line item)
TER .......... Binary report of each status bit (bits 1-32 from left to right). See bit #10.
Trigger Status — Bits #1-5: Trigger status bits are set when a registration move has been initiated by
trigger inputs A or B. This also indicates that the position has been captured. As soon as the captured
information is transferred or assigned/compared, the respective trigger status bit is cleared (set to Ø).
TRIG ........ Assignment & comparison operator — use in a conditional expression.
TTRIG ...... Binary report of each status bit (bits 1-5). From left to right the bits represent trigger A
and B (the 5th bit is master trigger M, the “MASTER TRIG” input terminal, which may
not be used for registration) — see page 8.
Example:
In this example, two-tiered registration is achieved. While the axis is executing its 50,000-unit move, Trigger A is
activated and executes registration move A to slow the load's movement. An open container of volatile liquid is then
placed on the conveyor belt. After picking up the liquid and while registration move A is still in progress, Trigger B is
activated and executes registration move B to slow the load to a gentle stop.
DEL REGI1 ; Delete program (assume program already resides in memory)
DEF REGI1 ; Begin program definition
INFNC1-H ; Define input 1 as trigger A
INFNC2-H ; Define input 2 as trigger B
A20 ; Set acceleration on to 20 units/sec/sec
AD40 ; Set deceleration on to 40 units/sec/sec
REGA4000 ; Set trigger A's registration distance to 4000 units
; (registration A move will use the A, AD, & V values above)
V.5 ; Set velocity to 0.5 units/sec
REGB13000 ; Set trigger B's registration distance to 13,000 units
; (registration B move will use the A, AD, & V values above)

RE1 ; Enable registration
Registration Profile:
1st Registration Mark
(TRG-A) occurs
V
10
2nd Registration Mark
(TRG-B) occurs
8
6
Pick up
container
4
here
0
0 10,000 20,000 D
[ READ ] Read a Value

Type Communication Interface or Assignment Product Rev
Syntax ... READi ... (See below) GT6K 6.0
Units i = string variable number
GV6K 6.0
Range 1-50
Default n/a
Response n/a
See Also ', PORT, [ SS ], TSS, VAR, VARS, WRITE
The READ command provides the user with an efficient way of storing numeric data read from the input
buffer into a variable. The READ command can be used as part of a numeric variable assignment statement
(e.g., VAR1=READ1) or in another command (A(READ1)). However, the READ command cannot be used in
an expression such as VAR5=1+READ1 or IF(READ1=1).
Syntax: VARx=READi where x is the variable number and i is the string variable to be sent out to prompt
the user for the numeric information.
Syntax: Command(READi) where Command is any command that has a separate field (e.g., A, AD, V, D,
etc.), and i is the string variable number.
The number attached to the end of the READ command corresponds to the string variable to be sent out the
Ethernet port or the RS-232 or RS-485 port, at the time this command is executed. The Gem6K drive will
then wait for numeric data to be sent to its input buffer. The numeric data must be preceded with an
immediate command identifier and a single quote (!'). The information read in can be either integer or
real, and must be terminated by a command delimiter (:, <cr>, <lf>).
requires a real number (denoted by <r>) or an integer value (denoted by ), you can use the READ
substitution (e.g., V(READ1)).
Example:
VARS1="Enter the count >" ; Place message in string variable #1
VAR2=READ1 ; Prompt with string variable #1, and read data
; into variable #2
;

; The drive will send this message (string variable #1) to the screen:
; "Enter the count >"
; The user must enter the numeric data preceded by the characters !'.
; For example, !'82.5 assigns the value 82.5 to numeric variable 2
REG Registration Distance

Syntax <a_><!>REGc<r> GT6K 6.0
Units c = letter of trigger input (A or B)
GV6K 6.0
r = distance units (scalable by the SCLD value)
servo axes: always encoder or resolver counts
stepper axes: commanded counts
Range r = 0.00000 to 999,999,999 (after conversion to steps)
Default 0 (do not make a registration move)
Response REG: *REG0
See Also [ AS ], INFNC, [ ER ], [ PCC ], [ PCE ], [ PCMS ], RE, REGLOD,
REGSS, SCALE, SCLD, [ SS ], TAS, TER, TPCE, TRGLOT, [ TRIG ],
TTRIG
The REG command specifies the distance to travel after receiving a registration input (trigger A or B). For
example, REGA4000 sets up a 4000-count registration move to be initiated trigger A is activated.
Servo Axes: REG value always represents encoder or resolver counts.
Stepper Axes: REG value represents commanded counts.
NOTE: The registration move is executed using the A, AA, AD, ADA, and V values that were in effect when
the REG command was entered. To see an example, refer to the programming sample in the RE command
description.
RULE OF THUMB: To prevent position overshoot, make sure the REG distance is greater than 4 ms
multiplied by the incoming velocity.
The registration distance remains set until you change it with a subsequent REG command. Registration
distances outside the valid range are flagged as an error, returning the message *INVALID DATA-FIELD x,
where x is the field number.
The REG distance will be scaled by the distance scale factor (SCLD value) if scaling is enabled (SCALE1).
See page 16 for details on scaling.
For additional details on Registration (including programming examples), refer to the RE command
description and to the Registration section in the Programmer's Guide.
REGLOD Registration Lock-Out Distance

Syntax <a_><!>REGLOD<r> GT6K 6.0
Units r = distance units (scalable by SCLD)
GV6K 6.0
Range 0.00000 to +999,999,999.99999
Default 0
Response REGLOD: *REGLOD0
See Also INFNC, RE, REG, REGSS, SCLD, TRGLOT
The REGLOD command specifies the distance to travel before a registration input will be recognized. If
scaling is enabled (SCALE1), the lock-out distance is scaled by the SCLD value.

Stepper axes: The lock-out distance is measured incrementally from the start of motion to the commanded
position.
Servo axes: The lock-out distance is measured incrementally from the start of motion to the actual position
(as measured by the position feedback device), not the commanded position.
Example:
A print wheel uses registration to initiate each print cycle. From the beginning of motion, the Gem6K should ignore all
registration marks before traveling 5000 counts.
DEL reg1 ; Delete program reg1
DEF reg1 ; Begin program definition
INFNC1-H ; Define input #1 as a "trigger interrupt" input (TRG-A)
REGA10000 ; Set registration distance to 10,000 counts
; (registration move will use the A, AD, & V values above)
REGLOD5000 ; Set registration lockout distance to 5000 counts
Registration input occurs prematurely (and is ignored).
V Registration input occurs again, after the 5,000-count

lockout distance, and starts the registration move.
10
4
Printing starts
here
2
0 D
0 5000 10000 15000
Lockout Distance
REGSS Registration Single-Shot

Syntax <a_><!>REGSS GT6K 6.0
Units n/a
GV6K 6.0
Range b=0 (Disable) or 1 (Enable)
Default 0
Response REGSS: *REGSS0
See Also RE, REG, REGLOD
The REGSS command sets the registration such that only one registration move will take place. This allows
the user to prevent any other trigger from interrupting the registration move in progress. A GO command
will reset the “one shot” condition.
Example – Senario A:

A user has a line of material with randomly spaced registration marks. It is known that the first
mark must initiate a registration move, and that each registration move cannot be interrupted or
the end product will be destroyed. Since the distance between marks is random, it is impossible
to predict if a second registration mark will occur before the first registration move has finished.
DEL REGI2a ; Delete program (in case program already resides in memory)
DEF REGI2a ; Begin program definition
V2 ; Set registration move to a velocity of 2 rps
AD.5 ; a deceleration of 0.5 rev/sec/sec
REGA20000 ; and a distance of 20000 steps
MC1 ; Start a mode continuous
V1 ; move at a velocity of 1 rps
v 1st Registration
mark occurs
2nd Registration
mark occurs
2
The first registration move
is pre-empted by a second
registration input.
0
t
Example – Scenario B (introducing “single-shot” registration):

In order to stop the second registration from occurring, REGSS can be used:
DEL REGI2b ; Delete program (in case program already resides in memory)
DEF REGI2b ; Begin program definition
V2 ; Set registration move to a velocity of 2 rps
REGA20000 ; and a distance of 20000 steps
REGSS1 ; Enable registration single shot mode
MC1 ; Start a mode continuous
V1 ; move at a velocity of 1 rps
v 1st Registration 2nd Registration

mark occurs mark occurs Because of REGSS, the
2
first registration move is
NOT pre-empted by the
second registration input.
The registration “single
1 shot” will be reset when
you issue a new motion
command (GO, PRUN, etc.).
0
t

REPEAT Repeat Statement
Syntax <a_><!>REPEAT GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also JUMP, UNTIL
The REPEAT command, in conjunction with the UNTIL command, provide a means of conditional program
flow. The REPEAT command marks the beginning of the conditional statement. The commands between the
REPEAT and the UNTIL command are executed at least once. Upon reaching the UNTIL command, the
expression contained within the UNTIL command is evaluated. If the expression is false, the program flow
is redirected to the first command after the REPEAT command. If the expression is true, the first command
after the UNTIL command is executed.
Up to 16 levels of REPEAT ... UNTIL( ) commands may be nested.
NOTE: Be careful about performing a GOTO between REPEAT and UNTIL. Branching to a different
location within the same program will cause the next REPEAT statement encountered to be nested
within the previous REPEAT statement, unless an UNTIL command has already been encountered.
The JUMP command should be used in this case.
All logical operators (AND, OR, NOT), and all relational operators (=, >, >=, <, <=, <>) can be used within the
UNTIL expression. There is no limit on the number of logical operators, or on the number of relational
operators allowed within a single UNTIL expression.
The limiting factor for the UNTIL expression is the command length. The total character count for the
UNTIL command and expression cannot exceed 80 characters. For example, if you add all the letters in the
UNTIL command and the letters within the () expression, including the parentheses and excluding the
spaces, this count must be less than or equal to 80.
All assignment operators (A, AD, AS, D, ER, IN, INO, MOV, OUT, PC, PCE, PCME, PCMS, PE, PER, SS, TIM, US,
V, VEL, etc.) can be used within the UNTIL() expression.
Example:
REPEAT ; Beginning of REPEAT ... UNTIL( ) loop
VAR1=VAR1+1 ; Increment variable 1 by 1
UNTIL(VAR1=12) ; Repeat loop until variable 1 = 12
RESET Reset
Syntax <a_><!>RESET GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response RESET: (power-up message is displayed)
See Also DRESET, RFS, STARTP, TAS, TASX, TSTAT, TREV
The RESET command affects the Gem6K drive the same as cycling power, or activating the hardware Reset
input (pin 3 on the DRIVE I/O connector). The drive’s programs, variables, scaling parameters, and motor
configuration parameters are retained in non-volatile memory; however, all previously entered command
values (not saved in programs or variables) will be reset to factory default values.
NOTE: After sending the RESET or !RESET command to the Gem6K, you must wait until you see the
power-up message before communicating with the Gem6K.

CAUTION: The RESET command will disconnect an Ethernet connection. (See DRESET for a command
that resets certain parameters, without disconnecting an Ethernet connection.)
RFS Return to Factory Settings

Syntax <a_><!>RFS GT6K 6.0
Units n/a GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ERROK, RESET, TDHRS, TREV
The RFS command returns all settings to factory default, with the exception of the ERROK prompt and the
TDHRS value. All stored programs and profiles are deleted. A RESET command is automatically issued
following this command; therefore, no prompt will be returned.
When is the RFS event finished? The RFS process can take several seconds. When RFS is finished, the
drive transmits the power-up message.
Recommendation: When you complete the drive configuration procedure in Motion Planner (see page 6), be
sure to save the configuration file and program files to your PC’s hard drive for safe keeping. If, after
executing the RFS command, you need to restore the previous configuration or stored programs, re-download
the configuration file and program files to your drive (REMEMBER: You must reset the drive to invoke new
configuration settings).
RUN Begin Executing a Program

Syntax <a_><!>RUN<t> GT6K 6.0
GV6K 6.0
Default n/a
Response n/a
See Also $, DEF, DEL, END, GOSUB, GOTO
The RUN command executes a program defined with the DEF command. A program name consists of 6 or
fewer alpha-numeric characters. The RUN command can be used inside a program or subroutine. The
program can also be run by specifying the name of the program without the RUN command. The RUN
command functions similarly to a GOSUB command in that control returns to the original program when the
called program finishes.
Example:
RUN pick ; Executes program named pick
pick ; Executes program named pick

S Stop Motion
Syntax <a_><!>S GT6K 6.0
Units n/a
GV6K 6.0
Range b = 0 (do not stop) or 1 (stop)
Default 1
Response !S: No response, instead motion is stopped.
See Also C, COMEXC, COMEXS, GO, K
The Stop (S) command instructs the motor to stop motion. The S command will bring the axis to rest using
the last deceleration values (AD and ADA) entered.
NOTE
Since all commands are buffered, the next command does not begin until the previous
command has finished. This is important because if you place a Stop (S) command after a
Go (GO) command in a program, the Stop command will have no effect. For the Stop
command to have an effect within a program, continuous command processing mode must
be enabled (COMEXC1). If the Stop (S) command is to be used external to the program, the
immediate command identifier must be used (!S or !S1).
Effect of COMEXS:
COMEXS0: Under factory default conditions (COMEXS0), when the Gem6K receives a stop command (S, !S,
S1, or !S1) or a stop input (input assigned a stop function with INFNCi-D), the following will
happen:
• Motion decelerates to a stop, using the present AD and ADA deceleration values. The
motion profile cannot be resumed.
• All commands in the Gem6K’s command buffer are discarded.
• Program execution is terminated and cannot be resumed.
COMEXS1: Using the COMEXS1 mode, the Gem6K allows more flexibility in responding to stop conditions,
depending on the stop method (see table below).
Save Command Buffer.
Resume Motion Profile. Resume Program. (Save the commands that
(Allow resume with a !C (Allow resume with a were in the command
What Stops? command or a resume !C command or a buffer when the stop was
Stop Method Motion Program input * ) resume input * ) commanded)
!S or S Yes Yes Yes Yes Yes
!S1 or S1 Yes No No No Yes
Stop input Yes No No No Yes
Pause input * Yes Yes Yes Yes Yes
(if COMEXR1)
Pause input * No Yes No Yes Yes
(if COMEXR0)
* A Pause input is an input configured with the INFNCi-E command. This is also the Resume input that can be
used to resume motion and program execution after a stop.
COMEXS2: Using the COMEXS2 mode, the Gem6K responds as it does in the COMEXS0 mode, with the
exception that you can still use the program-select inputs to select programs (INSELP value is
retained). The program-select input functions are: BCD select (INFNCi-B), and one-to-one select
(INFNCi-P). For further details on program selection with inputs, refer to INFNC and INSELP.
Example:
!S ; Stop motion (must use "!S" to stop motion in progress)

[ SC ] Status Assignment/Comparison
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also SCANP, TSC, TSCF, VARB
Use the SC operator to assign the drive status bits to a binary variable (VARB) or to make a comparison against
a binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be
placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, 0, X, x). To make
hexadecimal value itself must only contain the letters A through F, or the numbers 0 through 9.
Syntax: VARBn=SC where “n” is the binary variable number, or SC can be used in an expression such as
IF(SC=b0010), or IF(SC=h7F). If it is desired to assign only one bit of the drive status value to
a binary variable, instead of all 32, the bit select (.) operator can be used. For example,
VARB1=SC.3 assigns drive status bit #3 to binary variable 1:
*VARB1=XX0X_XXXX_XXXX_XXXX_XXXX_XXXX_XXX_XXXX.
The function of each drive status bit is shown below.

1 RESERVED
2 RESERVED
3 A PLC program is being executed in Scan Mode (SCANP).
4 RESERVED
5 RESERVED
6 RESERVED
7 RESERVED
8-32 RESERVED
SCALE Enable/Disable Scale Factors

Type Scaling Product Rev
Syntax <a_><!>SCALE GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response SCALE: *SCALE0
See Also DRES, ERES, SCLA, SCLD, SCLMAS, SCLV, SFB, TSTAT
NOTE: All scaling settings (SCALE, SCLA, SCLD, SCLV and SCLMAS) are
automatically saved in the Gem6K’s battery-backed RAM.
Scaling allows you to program acceleration, deceleration, velocity, and position values in units of measure
that are appropriate for your application. The SCALE command is used to enable or disable scaling (SCALE1
to enable, SCALEØ to disable). When scaling is enabled (SCALE1), all entered data is multiplied by the
appropriate scale factor:
Type of Motion Accel/Decel Scaling Velocity Scaling Distance Scaling
Standard Point-to-Point Motion SCLA SCLV SCLD
Following SCLA SCLV SCLD for follower distances

SCLMAS for master distances

When Should I Define Scaling Factors?
Scaling calculations are performed when a program is defined or downloaded. Consequently, you must
enable scaling (SCALE1) and define the scaling factors (SCLD, SCLA, SCLV, SCLMAS) prior to defining
(DEF), uploading (TPROG), or running (RUN or PRUN) the program.
RECOMMENDATION: Place the scaling commands at the beginning of your program file, before the
location of any defined programs. This ensures that the motion parameters in subsequent programs in
your program file are scaled correctly. When you use Motion Planner’s scaling setup wizard, the
scaling commands are automatically placed in the appropriate location in your program file.
ALTERNATIVE: Scaling factors could be defined via a terminal emulator just before defining or
downloading a program. Because scaling command values are saved in battery-backed RAM
(remembered after you issue a RESET command or cycle power to the Gem6K product), all subsequent
program definitions and downloads will be scaled correctly.
RESTRICTIONS: Scaling commands are not allowed in a program. If there are scaling commands in
a program, the drive will report an error message (“COMMAND NOT ALLOWED IN PROGRAM”) when
the program is downloaded. If you intend to upload a program with scaled motion parameters, be sure
to use Motion Planner. Motion Planner automatically uploads the scaling parameters and places them
at the beginning of the program file containing the uploaded program from the drive. This assures
correct scaling when the program file is later downloaded.
Units of Measure without Scaling (Scaling is disabled (SCALEØ) as the factory default condition):
• Stepper axes: All distance values entered are in commanded counts (sometimes referred to as motor
steps), and all acceleration, deceleration and velocity values entered are internally multiplied by the
DRES command value.
• Servo axes: Units of Measure
Motion Attribute Encoder
Accel/Decel Revs/sec/sec *
Velocity Revs/sec *
Distance Counts **
* All accel/decel & velocity values are internally multiplied by the ERES command value.
** Distance is measured in the counts received from the feedback device.
SCALING EXAMPLES: Refer to page 16.
[ SCAN ] PLC Scan Runtime

Type PLC Scan Program; Assignment or Comparison Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also PLCP, SCANP, TSCAN
Use the SCAN operand to assign the PLCP runtime (the duration it took the last PLCP program scan to
complete) to a variable, or to make a comparison against another value. A compiled PLCP program is
launched into Scan mode using the SCANP command. During each 2 ms update, the PLCP program is
scanned until 30 segments have been executed. If the PLCP program takes more than 30 segments to
complete, the program will be paused and then resumed at the next 2 ms system update. The SCAN value is
in multiples of the 2 ms system update period.
Example:
SCANP PLCP1 ; Start execution of compiled PLCP program 1 in Scan mode
VARI1=SCAN ; Assign the duration of the last scan to integer variable VARI1

SCANP Scan Compiled PLCP Program
Syntax <a_><!>SCANP<t> GT6K 6.0
Units t = text (name of the PLCP program, or CLR)
GV6K 6.0
Range t = PLCPi, where i is the number of the desired PLCP program,
or t = CLR (to clear or stop the scan function)
Default n/a
Response n/a
See Also PLCP, PCOMP, PRUN, PUCOMP, [ SC ], [ SCAN ], TSC, TSCAN
Use the SCANP command to initiate scanning a specific compiled PLCP program (PLCPi). For example,
SCANP PLCP3 initiates scanning the program defined as PLCP3 (defined with DEF PLCP3) and compiled
(PCOMP PLCP3).
The PLCP program is scanned/executed Time (msec)
Begin Scan Window 0
at the beginning of the 2 ms update To ascertain the scan time
required to execute 30 Scanning
period. The scan will stop after 30 segments, use TSCAN
or [SCAN]. 30-segment limit
segments have been executed and
resume at the next 2 ms update. PLCP 2 millisecond
programs, when compiled, are • I/O Updated by System
System Update Period
comprised of a linked list of PLC •

•
Trajectories calculated
Programs/Tasks run
segments. During a scan, each segment • Etc.
is counted until the total number of

segments executed exceeds 30. Begin New Scan 2 msec
(or resume scan
at next segment) Scanning
If the 30-segment limit occurs while
End Scan Window
executing a multi-segment statement,
then that statement will finish no matter
Note: In Scan mode, when a
how many segments it executes. For scan is complete, the next scan
example, if 29 segments have executed, will begin at the start of the
next 2 ms System Update Period.
then the next segment will cause the
scan to pause until the next 2 ms
update. If that next statement is VARI1=1PE, which executes 2 segments, then VARI1=1PE will complete
its operations before pausing the scan.
To check how much time (in 2 ms increments) the last scan took to complete, issue the TSCAN command or
use the SCAN operator. For example, if the last PLCP program took 3 system updates (2 ms each) to scan,
then TSCAN would report *TSCAN6, indicating that it took 6 ms to complete the scan. Each pass, if taking
the same path through the conditional branches (IF statements), will always report the same TSCAN value.
Controller Status bit #3 is set when a PLCP program is being executed in Scan Mode. To check the
controller status, use SC, TSC, or TSCF.
Launching programs external to the scan: Using the EXE command or the PEXE command, a scan
program can launch another program in a specified task. EXE launches a standard, non-compiled program;
PEXE launches a compiled program.
Stopping the scan: The scan program can be stopped in several ways:
• Send the !K command to the Gem6K.
• Clear the scan program by issuing a SCANP CLR command.
• Placing a HALT or BREAK command in the PLCP program:
- HALT terminates the current PLCP program scan and kills the SCANP mode.
- BREAK will end only the current scan loop. At the next 2-millsecond update, the scan will restart
at the first line of the PLCP program.
Timing the PLCP program outputs: It is not possible to control where the PLCP program will pause if
the scan takes more than the allowed time. This means that there can be a time lag of several update periods
before the outputs, analog outputs, and/or variables affected by the PLCP program are updated. The order

in which the scan takes place should be considered when creating PLCP programs to minimize the effects
of such a lag. One way to avoid the lag is to create a binary variable as a temporary holding place for the
desired output states. The last commands before the END statement of the PLCP program can set the outputs
according to the final status of the variable, such that all output states are written at the same time, just as
the scan completes. This method is demonstrated in the example program below.
For more information on defining a PLC program, refer to the PLCP command description.
Example:
DEF PLCP3
; Binary states of outputs 1-6 are represented by VARB1 bit 1-6.
; Outputs 1-6 are set at the end of the program.
VARB1=b000000 ; Initialize binary variable 1
IF(IN.1=b1) ; If Input 1 is ON, turn Output 1 ON
VARB1=VARB1 | b100000 ; Set binary bit for output 1 only to ON
NIF
NIF
NIF
NIF
NIF
NIF
OUT(VARB1) ; Turn on appropriate outputs
END
PCOMP PLCP3 ; Compile program PLCP3
SCANP PLCP3 ; Run compiled program PLCP3 in Scan mode
; The diagram below illustrates the scan.
Time (msec)
0
DEF PLCP3
VARB1=b000000 Scanning
IF(IN.1=b1)
VARB1=VARB1 | b100000 Pause Scan
NIF
IF(IN.2=b1)
VARB1=VARB1 | b010000
NIF
IF(IN.3=b1)
VARB1=VARB1 | b001000 2 msec
NIF
IF(IN.4=b1) Scan Scanning
VARB1=VARB1 | b000100 Complete
NIF
IF(IN.5=b1)
VARB1=VARB1 | b000010
NIF
IF(IN.6=b1)
VARB1=VARB1 | b000001 4 msec
NIF Scanning
OUT(VARB1)
END
Begin New
Scan
6 msec
Scanning
2 System Update Periods are needed to complete the scan

for compiled program PLCP3, for a total of 4 msec.
The response to a TSCAN command would be: *TSCAN4.

SCLA Acceleration Scale Factor
Syntax <a_><!>SCLA GT6K 6.0
Units i = counts/unit
GV6K 6.0
Range 1 - 999,999
Default 4000
(Servos auto-detect based on SFB: 4000 if encoder, 4096 if
resolver)
Response SCLA: *SCLA4000
See Also ANIRNG, FMAXA, SCALE, SCLD, SCLMAS, SCLV, SFB, TSTAT
NOTE: All scaling settings (SCALE, SCLA, SCLD, SCLV and SCLMAS)
are automatically saved in the Gem6K’s battery-backed RAM.
When scaling is enabled (SCALE1), all point-to-point acceleration values (A, AA, HOMA, HOMAA, JOGA,
JOGAA, JOYA, JOYAA) and deceleration values (AD, ADA, LHAD, LHADA, LSAD, LSADA, HOMAD, HOMADA,
JOGAD, JOGADA, JOYAD, JOYADA) are multiplied by the Acceleration Scale Factor (SCLA) command. Since
the units are counts/unit, and all the acceleration values are in units/sec/sec, all accelerations will thus be
internally represented as counts/sec/sec.
Stepper axes: If scaling is enabled (SCALE1), the entered accel and decel values are internally multiplied
by the acceleration scaling factor (SCLA) to convert user units/sec/sec to commanded counts/sec/sec
(sometimes referred to as “motor steps”/sec/sec).
If scaling is disabled (SCALEØ), all accel and decel values are entered in commanded revs/sec/sec;
these values are internally multiplied by the drive resolution (DRES) value to obtain accel and decel
values in commanded counts/sec/sec for the motion trajectory calculations.
Servo axes: If scaling is enabled (SCALE1), the entered accel and decel values are internally multiplied by
the acceleration scaling factor (SCLA) to convert user units/sec/sec to encoder counts/sec/sec.
If scaling is disabled (SCALEØ), all accel and decel values are entered in encoder revs/sec/sec;
encoder values are internally multiplied by the encoder resolution (ERES) value to obtain accel and
decel values in counts/sec/sec for the motion trajectory calculations.
As the acceleration scaling factor (SCLA) changes, the SCLA (counts/unit) Decimal Places
resolution of the acceleration and deceleration values and 1-9 0
the number of positions to the right of the decimal point 10 - 99 1
also change (see table at right). An acceleration value with 100 - 999 2
greater resolution than allowed will be truncated. For 1000 - 9999 3
example, if scaling is set to SCLA1Ø, the A9.9999 10000 - 99999 4
command would be truncated to A9.9. 100000 - 999999 5
The following equations can help you determine the range of acceleration and deceleration values.
Axis Type Min. Accel or Decel (resolution) Max. Accel or Decel
GT6K Stepper 0.001 ∗ DRES 999.9999 ∗ DRES

SCLA SCLA
GV6K Servo 0.001 ∗ ERES 999.9999 ∗ ERES

Encoder Feedback: Encoder Feedback:
SCLA SCLA
MORE ABOUT SCALING

For additional details on scaling, including scaling examples, refer to page 16.

SCLD Distance Scale Factor
Syntax <a_><!>SCLD GT6K 6.0
GV6K 6.0
Range 1 - 999,999
Default 1
Response SCLD: *SCLD1
See Also [ ANI ], D, [ FB ], FOLRN, FSHFD, [ PC ], [ PCC ], [ PCE ],
[ PCMS ], [ PE ], [ PER ], PSET, [ PSHF ], [ PSLV ], REG,
REGLOD, SCALE, SCLA, SCLV, SCLMAS, SFB, SMPER, TANI, TFB, TPC,
TPCC, TPCE, TPCMS, TPE, TPER, TPSHF, TPSLV, TSTAT
If scaling is enabled (SCALE1), the Gem6K internally multiplies certain commands (see list below) by the
Distance Scale Factor (SCLD) value.
Standard Motion Following (Follower Axis only)
D TANI FOLRN
PESET TFB FSHFD
PSET TPC [ PCMS ]
REG TPCC [ PSHF ]
REGLOD TPCE [ PSLV ]
SMPER TPE
TPCMS
STRGTD TPER
TPSHF
[ ANI ] TPSLV
[ FB ]
[ PC ]
[ PCC ]
[ PCE ]
[ PE ]
[ PER ]
Since the SCLD units are in terms of counts/unit, all distances will thus be internally represented in counts.
For instance, if your distance scaling factor is 10000 (SCLD10000) and you enter a distance of 75 (D75),
the actual distance moved will be 750,000 counts. (10000 x 75 = 750,000 counts)
This command is useful for allowing the user to specify distances in any unit. For example, if the user had a
25000 step/revolution drive and wanted distance units in terms of revolutions, then SCLD should be set to
25000, and scaling should be enabled (SCALE1).
As the distance scaling factor (SCLD) changes, the resolution of all distance commands and the number of
positions to the right of the decimal point also change (see table below). A distance value with greater
resolution than allowed will be truncated (e.g., if scaling is set to SCLD25ØØØ, the D1.99999 command
would be truncated to D1.9999).
SCLD (counts/unit) Distance Resolution (units) Distance Range (units) Decimal Places
1-9 1 0 - ±999,999,999 0
10 - 99 0.1 0.0 - ±99,999,999.9 1
100 - 999 0.01 0.00 - ±9,999,999.99 2
1000 - 9999 0.001 0.000 - ±999,999.999 3
10000 - 99999 0.0001 0.0000 - ±99,999.9999 4
100000 - 999999 0.00001 0.00000 - ±9999.99999 5
FRACTIONAL STEP TRUNCATION

If you are operating in the preset positioning mode (MCØ), when the distance scaling factor (SCLD) and
the distance value are multiplied, a fraction of one step may possibly be left over. This fraction is
truncated when the distance value is used in the move algorithm. This truncation error can accumulate
over a period of time, when performing incremental moves continuously in the same direction. To
eliminate this truncation problem, set the distance scale factor (SCLD) to 1, or a multiple of 10.
More about scaling, including scaling examples, refer to page 16.

SCLMAS Master Scale Factor
Type Following; Scaling Product Rev
Syntax <a_><!>SCLMAS GT6K 6.0
Units i = scaling factor
GV6K 6.0
Range i = 1 - 999999
Default 1
Response SCLMAS *SCLMAS1
See Also FMCLEN, FMCP, FOLEN, FOLMD, FOLRD, FOLRN, GOWHEN, [ PCMS ],
[ PMAS ], SCALE, SCLD, TPMAS, TPCMS
The SCLMAS command internally multiplies all Following master values by the specified scale factor value.
Since the SCLMAS units are in terms of counts/unit, all distances will thus be internally represented in counts.
For instance, if your master scaling factor is 10000 (SCLMAS10000) and you enter a master parameter of 75
(e.g., FOLMD75), the internal value will be 750,000 counts. (10000 x 75 =750,000)
NOTE: The SCLMAS command will not take effect unless scaling is enabled (SCALE1).
This command allows you to specify distances in any unit. For example, if you had a 4000 step/revolution
encoder as the master and wanted master units in terms of revolutions, then SCLMAS should be set to 4000.
As the master scaling factor (SCLMAS) changes, the resolution of all master parameter values and the
number of positions to the right of the decimal point also change (see table below). A master parameter
value with greater resolution than allowed will be truncated (e.g., if scaling is set to SCLD4000, the
FOLMD1.9999 command would be truncated to FOLMD1.999).
SCLMAS (counts/unit) Master Resolution (units) Master Range (units) Decimal Places
1-9 1 0 - ±999,999,999 0
10 - 99 0.1 0.0 - ±99,999,999.9 1
100 - 999 0.01 0.00 - ±9,999,999.99 2
1000 - 9999 0.001 0.000 - ±999,999.999 3
10000 - 99999 0.0001 0.0000 - ±99,999.9999 4
100000 - 999999 0.00001 0.00000 - ±9999.99999 5
FRACTIONAL STEP TRUNCATION

If you are specifying master distance values (FOLMD), when the master scaling factor
(SCLMAS) and the distance value are multiplied, a fraction of one count may possibly be
left over. This fraction is truncated when the distance value is used in the move
algorithm. This truncation error can accumulate when performing several moves over the
specified master distance. To eliminate this truncation problem, set the master scale
factor (SCLMAS) to 1, or a multiple of 10.
Example: (refer also to the FOLEN examples, and page 16)

The commands below are a subset of the set-up parameters for an application in which the axis is following
the Master encoder input at a 1-to-1 ratio.
SCLA25000 ; Set follower acceleration scale factor to 25000
SCLV25000 ; Set follower velocity scale factor to 25000
SCLD25000 ; Set follower distance scale factor to 25000
SCLMAS4000 ; Set master scale factor to 4000
FOLMAS1 ; Axis 1 using Master encoder input as master
; (scaled by SCLD)
FOLRD1 ; Set follower-to-master Following ratio denominator to 1.
; This sets the ratio to 1:1 (scaled the SCLMAS).
; The actual ratio in counts = 25000 to 4000 = 6.25 follower
; axis counts per master count.

SCLV Velocity Scale Factor
Syntax <a_><!>SCLV GT6K 6.0
GV6K 6.0
Range 1 - 999,999
Default 4000
(Servos auto-detect based on SFB: 4000 if encoder, 4096 if
resolver)
Response SCLV: *SCLV4000
See Also ANIRNG, FMAXV, HOMV, HOMVF, JOGVH, JOGVL, JOYVH, JOYVL, SCALE,
SCLA, SCLD, SFB, TSTAT, V
When scaling is enabled (SCALE1), all velocity values (HOMV, HOMVF, JOGVH, JOGVL, JOYVH, JOYVL, V)
are multiplied by the Velocity Scale Factor (SCLV) command. Since the units are counts/unit, all velocities
will thus be internally represented in counts/sec.
Steppers: If scaling is enabled (SCALE1), the entered velocity values are internally multiplied by SCLV to
convert user units/sec to commanded counts/sec.
If scaling is disabled (SCALEØ), all velocity values are entered in commanded revs/sec; these
values are internally multiplied by the drive resolution (DRES) value to obtain velocity values in
commanded counts/sec for the motion trajectory calculations.
Servos: If scaling is enabled (SCALE1), the entered velocity values are internally multiplied by SCLV to
convert user units/sec to encoder counts/sec.
If scaling is disabled (SCALEØ), all velocity values are entered in encoder revs/sec; encoder
values are internally multiplied by the encoder resolution (ERES) value to obtain velocity values
in counts/sec for the motion trajectory calculations.
As the velocity scaling factor (SCLV) changes, the resolution of the velocity commands and the number of
positions to the right of the decimal point also change (see table below). A velocity value with greater
resolution than allowed will be truncated. For example, if scaling is set to SCLV1Ø, the V1.9999 command
would be truncated to V1.9.
SCLV (steps/unit) Velocity Resolution (units/sec) Decimal Places
1-9 1 0
10 - 99 0.1 1
100 - 999 0.01 2
1000 - 9999 0.001 3
10000 - 99999 0.0001 4
100000 - 999999 0.00001 5
MORE ABOUT SCALING

For additional details on scaling, including scaling examples, refer to page 16.

[ SEG ] Number of Free Segment Buffers
Type Compiled Motion; Assignment or Comparison Product Rev
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also MEMORY, [SS], TDIR, TMEM, TSEG, TSS
Use the SEG operator to assign the number of free memory segment buffers in compiled memory to a
variable (VAR), or to make a comparison against another value. “Compiled memory” is the partition of the
Gem6K’s non-volatile memory that stores compiled profiles & PLC programs. Compiled profiles/programs
could be a motion profile (a series of GOBUF commands), or a PLC program (for PLC Scan Mode).
System status bit (see TSSF, TSS, and SS) 29 is set when the compiled memory is 75% full, and bit 30 is set
if the compiled memory is 100% full.
Syntax: VARn=SEG where “n” is the variable number,
or SEG can be used in an expression such as IF(SEG=1)
SFB Select Servo Feedback Source

Syntax <a_>SFB GT6K n/a
Units i = feedback source identifier
GV6K 6.0
Range i = 1 (encoder), or 4 (resolver)
Response SFB *SFB1 servo axes)
See Also ERES, SRSET, TPE
Parker Motor, this command is set to 1. You may have to manually set this parameter. (Refer to DMTR for a
list of auto-configured commands.)
Use the SFB command to select the servo feedback source to be used. The options are:
Options Physical Location Measurement* Resolution Command
1—Encoder MOTOR FEEDBACK connector only Encoder counts ERES

(default is 4000 counts/rev)
4—Resolver MOTOR FEEDBACK connector Resolver counts ERES
(GV6K must have Resolver option) (fixed at 4096 counts/rev)
* With scaling enabled (SCALE1), feedback is scaled by the SCLD value.

SGAF Acceleration Feedforward Gain
Syntax <a_><!>SGAF GT6K n/a
Units i = percent
GV6K 6.0
Range 0 – 500
Response SGAF: *SGAF100 servo axes)
See Also DMTJ, LJRAT, SFB, SGENB, SGSET, SGVF, TGAIN, TSGSET
Use the SGAF command to set the gain for the acceleration feedforward term in the servo control algorithm.
Introducing acceleration feedforward control improves position tracking performance when the system is
commanded to accelerate or decelerate. Acceleration feedforward control does not affect the servo system’s
stability, nor does it have any effect at constant velocity.
The SGAF value is multiplied by the commanded acceleration calculated by the GV6K’s move profile
routine to produce an estimated torque command that is added to the servo control signal. The value is
normalized to the current setting of both the motor inertia and load inertia ratio (DMTJ and LJRAT,
respectively) as shown in the equation below.
Estimated accelerati on torque = DMTJ (1 + LJRAT ) ⋅ accelerati on command
144424443
SGAF value = 100%
Setting SGAF to 100% will theoretically produce zero following error during the acceleration and
deceleration part of a move profile. This assumes that the drive or motor are not being current limited, the
values for inertia are accurate and the models used for analysis are correct. You can adjust the value of
SGAF from zero to as high as 5 times or 500% (SGAF500) of the theoretical value. For example, SGAF200
sets the acceleration feedforward to 200% of theoretical value.

• Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help
system.
• Check the values of all active gains (SGAF is one of many servo gains): use TGAIN.
SGENB Enable a Servo Gain Set

Syntax <a_><!>SGENB GT6K n/a
Units i = gain set identification number (see SGSET command)
GV6K 6.0
Range 1 – 3
See Also SFB, SGAF, SGSET, SGVF, TGAIN, TSGSET
SGENB allows you to enable one of the three gain sets. The gain sets are established with the SGSET
command. A gain set can be enabled during motion at any specified point in the profile, or when not in
motion. For example, you could use one set of gain parameters for the constant velocity portion of the
profile, and when you approach the target position a different set of gains can be enabled.

Gain Set Elements:
• DIBW (current loop bandwidth) • DPBW (position loop bandwidth)
• DMTLIM (torque/force limit) • LDAMP (load damping)
• DMVLIM (velocity limit) • LJRAT (load-to-rotor inertia ratio or load-to-force mass ratio)
• DNOTAD (notch filter A depth) • SGAF (acceleration feedforward gain)
• DNOTAF (notch filter A frequency) • SGINTE (integrator enable)
• DNOTAQ (notch filter A quality factor) • SGIRAT (current damping ratio)
• DNOTBD (notch filter B depth) • SGPRAT (position loop ratio)
• DNOTBF (notch filter B frequency) • SGPSIG (velocity/position bandwidth ratio)
• DNOTBQ (notch filter A quality factor) • SGVF (velocity feedforward gain)
• DNOTLD (notch lead filter break frequency) • SGVRAT (velocity damping ratio)
• DNOTLG (notch lag filter break frequency)
For help with servo tuning procedures, refer to the Hardware Installation Guide or to the Motion Planner
help system.
Example:
SGVF5 ; Set the velocity feedforward gain
SGAF1 ; Set the acceleration feedforward gain
SGSET3 ; Assign SGVF & SGAF gains to servo gain set #3
SGSET1 ; Assign SGAF & SGVF gains to servo gain set #1
SGENB1 ; Enable gain set #1 to be in effect
TSGSET3 ; Display the value for all gains in gain set #3.
; (see sample response in TSGSET command description)
SGINTE Integrator Enable

Syntax <a_><!>SGINTE GT6K n/a
GV6K 6.0
Range 0 (disable) or 1 (enable) or 2 (enable only at end of move)
Default 1 (enabled) (applicable only to
Response SGINTE: *SGINTE1 servo axes)
See Also LDAMP, SGPRAT, SGVRAT, TGAIN, TSGSET
The SGINTE command enables/disables the integrator in the velocity and position loops. When enabled
(the default), the integrator progressively reduces the velocity error in proportion to how long the error has
persisted. This helps to reduce the effects of load friction on performance. This effect is most noticeable
when a constant velocity is commanded for a significant period of time.
Because position error causes the generation of a corrective velocity command, the integrator also reduces
steady-state position error to zero, and will result in more accurate final positioning in applications where
friction is present. If you use the SGINTE2 setting, the integrator will be disabled during the move, and will
be enabled only at the end of the move.
In some situations, the integrator can reduce stability, especially if there is high stiction (non-linear
friction). In this case, a limit-cycle can result. This will typically take the form of a square-wave oscillation
around the final position. (Most other causes of instability result in nearly sinusoidal oscillations.) In such
cases, disabling the integrator can improve performance.

system.
• Check the values of all active gains (SGINTE is one of many servo gains): use TGAIN.

SGIRAT Current Damping Ratio
Syntax <a_><!>SGIRAT<r> GT6K n/a
Units r = ratio
GV6K 6.0
Range 0.500 to 2.000 : ±0.001
Response SGIRAT: *SGIRAT.775 servo axes)
See Also DIBW, SGPSIG, SGPRAT, SGVRAT, TGAIN, TSGSET
The SGIRAT command sets the damping ratio (Zeta) of the current loop. Higher values produce a more stable
current loop response. Lower values provide faster current response but increase current overshoot.
system.
• Check the values of all active gains (SGIRAT is one of many servo gains): use TGAIN.
SGPRAT Position Damping Ratio

Syntax <a_><!>SGPRAT<r> GT6K n/a
Units r = ratio
GV6K 6.0
Range 0.500 to 2.000 : ±0.001
Response SGPRAT: *SGPRAT.542 servo axes)
See Also DPBW, LDAMP, LJRAT, SGIRAT, SGPSIG, SGVRAT, TGAIN, TSGSET
The SGPRAT command sets the damping ratio (Zeta) of the position loop. Higher values produce a more
stable position loop. Lower values provide faster position response but increase position overshoot.
system.
• Check the values of all active gains (SGPRAT is one of many servo gains): use TGAIN.
SGPSIG Velocity/Position Bandwidth Ratio

Syntax <a_><!>SGPSIG<r> GT6K n/a
Units r = ratio
GV6K 6.0
Range 0.100 to 2.000 : ±0.001
Response SGPSIG: *SGPSIG1.250 servo axes)
See Also DMODE, DPBW, SGIRAT, SGPRAT, SGVRAT, TGAIN, TSGSET
The SGPSIG command sets the ratio (frequency spread) between the internal velocity loop bandwidth and
the position loop bandwidth (DPBW). When operating in one of the position modes (see list below), the
velocity loop bandwidth will track position loop bandwidth adjustments, with the ratio set by SGPSIG.
Position modes are DMODE12 and DMODE17 (see DMODE for descriptions).
system.
• Check the values of all active gains (SGPSIG is one of many servo gains): use TGAIN.

SGSET Save a Servo Gain Set
Syntax <a_><!>SGSET GT6K n/a
Units i = gain set identification number
GV6K 6.0
Range 1-3
See Also SFB, SGAF, SGENB, SGVF, TGAIN, TSGSET
The SGSET command saves the presently active gain values (see list below) as a set of gains. Up to three
sets of gains can be saved. Any gain set can be displayed using the TSGSET command. To report the
presently active gain values, enter the TGAIN command.
Any gain set can be enabled with the SGENB command during motion at any specified point in the profile,
or when not in motion. For example, you could use one set of gain parameters for the constant velocity
portion of the profile, and when you approach the target position a different set of gains can be enabled.
Gain Set Elements:

For help with servo tuning procedures, refer to the Hardware Installation Guide or to the Motion Planner
help system.
Example:
SGSET3 ; Assign SGVF & SGAF gains to servo gain set #3
SGSET1 ; Assign SGAF & SGVF gains to servo gain set #1
SGENB1 ; Enable gain set #1 to be in effect
TSGSET3 ; Display the value for all gains in gain set #3.
; (see sample response in TSGSET command description)
SGVF Velocity Feedforward Gain

Syntax <a_><!>SGVF GT6K n/a
Units i = percent
GV6K 6.0
Range 0 – 500
Response SGVF: *SGVF100 servo axes)
See Also DMTD, LDAMP, SFB, SGAF, SGENB, SGSET, TGAIN, TSGSET
Use the SGVF command to set the velocity feedforward gain. Velocity feedforward control improves
position tracking performance when the system is commanded to move at constant velocity. The velocity
tracking error is mainly attributed to viscous friction.
The SGVF value is multiplied by the commanded velocity calculated by the GV6K’s move profile routine to
produce an estimated torque command that gets added to the servo control signal. The value is normalized

to the current setting of both the motor and load viscous damping terms (DMTD and LDAMP, respectively) as
shown in the equation below.
Estimated velocity torque = (1444+
DMTD )
4443 ⋅ velocity command
2LDAMP
SGVF value = 100%
Setting SGVF to 100% will theoretically produce zero following error during the constant velocity portion
of a move profile. This assumes that the drive or motor are not being current limited, the values for viscous
damping are accurate and the models used for analysis are correct. You can adjust the value of SGVF from
zero to as high as 5 times or 500% (SGVF500) of the theoretical value.
system.
• Check the values of all active gains (SGVF is one of many servo gains): use TGAIN.
Example:
SGVF200 ; Set velocity feedforward to 200% of theoretical value
SGVRAT Velocity Damping Ratio

Syntax <a_><!>SGVRAT<r> GT6K n/a
Units r = ratio
GV6K 6.0
Range 0.500 to 2.000 : ±0.001
Response SGVRAT: *SGVRAT.224 servo axes)
See Also LDAMP, LJRAT, SGIRAT, SGPSIG, SGPRAT, SGSET, TGAIN, TSGSET
The SGVRAT command sets the damping ratio (Zeta) of the velocity loop. Higher values produce a more
stable velocity loop. Lower values provide faster velocity response but increase velocity overshoot.
system.
• Check the values of all active gains (SGVRAT is one of many servo gains): use TGAIN.
SHALL Hall Sensor Inversion

Syntax <a_><!>SHALL (does not take effect until RESET, DRESET or GT6K n/a
cycle power)
Units i = control option # GV6K 6.0
Range 0 (do not invert)
(applicable only to
1 (invert)
servo axes)
Default 0
Response SHALL: *SHALL0
See Also THALL
command.

Encoder Motors (with SFB1): The SHALL command controls the logic sense of the Hall sensors. To invert
the sensors, use the SHALL1 command. To check the present value of the Hall sensors, use the THALL
command.
Resolver Motors (with SFB4): If you use a resolver motor, SHALL is not applicable.
[ SIN( ) ] Sine
Syntax ... SIN(r) (See below) GT6K 6.0
Units r = value in radian or degrees based on RADIAN command
GV6K 6.0
Range ±17500.0000000 radians
Default n/a
Response n/a
See Also [ ATAN ], [ COS ], [ PI ], RADIAN, [ TAN ], VAR
y
This operator is used to calculate the sine of a number
given in radians or degrees (see the RADIAN
command). If "a" and "b" are coordinates of a point
on a circle of radius "r", then the angle of measure "θ" sin θ = a
r
a r
can be defined by the equation: sine θ =
r θ a cos θ = b
r
x
b
If a value is given in radians and a conversion is tan θ = a
b
needed to degrees, use the formula: 360° = 2π
radians.
Amplitud e
The graph on the right (y axis)
1
shows the amplitude of y
on the unit circle for 0.707
different values of x.
0
π π 3π π 5π 3π 7π 2π
4 2 4 4 2 4 Radians
(x axis)
-0.707
2 π Radi ans = 360 Degrees

-1
Syntax: VARx=SIN(r) where “x” is the numeric variable number and “r” is a value provided in either degrees or
radians based on the RADIAN command. Parentheses ( () ) must be placed around the SIN operand. The
result will be specified to 5 decimal places.
Example:
RADIAN1
VAR1=5 * SIN(PI/4) ; Set variable 1 equal to 5 times the sine of Pi divided by 4

SINAMP Virtual Master Sine Wave Amplitude
Syntax <a_><!>SINAMP GT6K 6.0
Units i = amplitude
GV6K 6.0
Range 0-8192 (max. peak to peak is 16384)
Default 0
Response SINAMP: *SINAMP0
See Also FOLMAS, FVMACC, FVMFRQ, SINANG, SINGO
Use the SINAMP command to define the amplitude of the internal sine wave when it has been designated as the virtual
master. By designating the internal sine wave as a master, the user may produce a sinusoidally oscillating motion, with
control of the phase, amplitude, and center of oscillation.
The SINAMP command allows a change in follower amplitude without changing the center of oscillation. It affects the
sine wave immediately, without any built-in ramp in amplitude. If a gentle change in amplitude is desired, write a user
program which repeatedly issues the command with small changes in value until the desired value is reached.
The peak-to-peak amplitude of a virtual master sine wave is twice the value specified with the SINAMP command.
SINANG Virtual Master Sine Wave Angle

Syntax <a_><!>SINANG<r> GT6K 6.0
Units degrees
GV6K 6.0
Range 0.0-360.0
Default 0
Response SINANG: *SINANG0
See Also FOLMAS, FVMACC, FVMFRQ, SINAMP, SINGO
The SINANG command is used to define the phase angle when the internal sine wave is designated as the
virtual master. By designating the internal sine wave as a master, the user may produce a sinusoidally
oscillating motion, with control of the phase, amplitude, and center of oscillation.
The internal sine wave uses the variable count frequency command (FVMFRQ) to increase or decrease the
angle from which the sine is calculated. Each count of the count frequency changes the angle by one-tenth
(0.1) of a degree. For example, a FVMFRQ value of 3600 would create an angular frequency of 3600 tenths of
degrees per second, or 1 cycle per second. When used as a source for the sine wave, the maximum value for
FVMFRQ is 144000. This results in a maximum of 40 Hz angular frequency. Frequencies higher than this are
not allowed because they may be subject to aliasing.
SINGO Virtual Master - Initiate Internal Sine Wave

Syntax <a_><!>SINGO GT6K 6.0
Units n/a
GV6K 6.0
Range b = 1 (restart sine wave from previous angle & amplitude) or
0 (stop sine wave)
Default 0
Response SINGO *SINGO0
See Also FOLMAS, FVMACC, FVMFRQ, SINAMP, SINANG
The SINGO command is used to restart the internal sine wave from zero degrees. By designating the
internal sine wave as a master, the user may produce a sinusoidally oscillating motion, with control of the
phase, amplitude, and center of oscillation.
The SINGO command with a “0” parameter abruptly stops the sine wave, without changing its current
magnitude. Using the SINGO command with a “1” parameter abruptly starts the sine wave, also without
changing its current magnitude. To gently pause the follower output, change the FVMFRQ value to zero with
a moderate FVMACC value; to resume the follower output, restore the original FVMFRQ value.

The SINGO command with a “1” parameter always starts at the previous angle, which may not be the
desired start of oscillation. The SINANG command will instantly change the angle and corresponding sine of
the angle. This represents an abrupt change in master position. If the follower axis is still following when
this occurs, there will be an abrupt change in commanded follower position. To start the follower properly,
move the follower to the desired start position first (using MC0, D, GO), then issue SINANG, then MC1, GO1,
and finally SINGO.
SMPER Maximum Allowable Position Error

Type Servo Product Rev
Syntax <a_><!>SMPER<r> GT6K n/a
Units r = feedback device counts (scalable with SCLD) GV6K 6.0
Range 0-200,000,000 (after conversion to steps)
(0 = do not monitor position error condition) (applicable only to
Response SMPER: *SMPER4000
See Also [ AS ], [ ER ], ERES, ERROR, ERRORP, SCALE, SCLD, SFB, TANI,
TAS, TER, TERRLG, TFB, TPC, TPE, TPER
SMPER determines the maximum position error (in feedback device counts) allowed before an error condition
occurs. The position error is the difference between the commanded position and the actual position as read by
the feedback device. When the position error exceeds the value entered by the SMPER command, an error
condition is latched (see TAS or AS bit #23 and TER bit #12) and the drive faults (issues a shutdown – DRIVE0)
The DRIVE1 command re-enables the drive, clears TAS bit #23 and TER bit #12, and sets the commanded
position (TPC) equal to the actual feedback device position (TPE). Incremental devices will be zeroed. The
position error is monitored once per system update period.
CAUTION: If the SMPER value is set to zero (SMPERØ), the position error condition is not monitored,
allowing the position error to accumulate without causing a fault.
You can enable ERROR command bit #12 to continually check for the position error condition, and when it
occurs to branch to a programmed response defined in the ERRORP program. You can check the status of
this error condition with the TAS, AS, TER, and ER commands. You can check the actual position error with
the TPER and PER commands.
If scaling is enabled (SCALE1), the SMPER value is multiplied by the SCLD value.
Example:
ERES4000 ; Set feedback resolution to 4000 counts/rev
SMPER4000 ; Set maximum allowable position error to 1 rev before
; a fault condition will occur.
SMVER Maximum Allowable Velocity Error

Syntax <a_><!>SMVER<r> GT6K n/a
Units r = feedback device revs/sec GV6K 6.0
Range 0.000000 to 200.000000 : ±0.000001 (applicable only to
Default 0.000000 (do not monitor velocity error condition) servo axes)
Response SMVER: *SMVER10.000000
See Also DMEPIT, TASX, TVE, TVEL, TVELA
SMVER determines the maximum velocity error allowed before an error condition occurs. The velocity error
is the difference between the commanded velocity (TVEL) and estimated actual velocity (TVELA). If the error
exceeds this value, a fault will result in which the drive is shut down (DRIVE0) and TASX bit #9 is set. The
DRIVE1 command re-enables the drive, clears TASX bit #9, and sets TVEL equal to TVELA.
You can check the actual velocity error with the TVE command.

If the SMVER value is set to zero (SMVER0), the velocity error condition is not monitored, allowing the
velocity error to accumulate without causing a fault.
[ SQRT() ] Square Root

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ = ], [ + ], [ - ], [ * ],[ / ], VAR
This operator takes the square root of a value. The result, if multiplied by itself, will approximately equal
the original value (the difference is attributed to round-off error). The resulting value has 3 decimal places.
Syntax: VARn=SQRT(expression) where “n” is the variable number, and the expression can be a
number or a mathematical expression. The SQRT of a negative number is not allowed. Parentheses ( () )
must be placed around the SQRT operand.
Example:
VAR1=SQRT(25) ; Set variable 1 equal to the square root of 25 (result = 5)
SRSET Resolver Offset Angle

Syntax <a_><!>SRSET<r> GT6K n/a
Units r = angle in degrees GV6K 6.0
Range -180.0 to +180.0 : ±0.1
(no value = use auto align if in DMODE11) (applicable only to
Response SRSET: (returns the calculated value only if in DMODE11)
See Also DMODE, SFB, TSROFF
Parker Motor, this command is set to zero. (Refer to DMTR for a list of auto-configured commands.)
The SRSET value becomes the new resolver offset angle. When no value is specified, and the drive is in
DMODE11 (feedback alignment mode), then a routine is executed to automatically set the resolver angle.
WARNING: Motion (less than 1 rev) will occur when you initiate the auto alignment mode. To ascertain
the actual offset angle, use the TSROFF command.
The SRSET value is saved in non-volatile memory.
[ SS ] System Status
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also IF, TCMDER, TRGFN, [ TRIG ], TTRIG, TSS, TSSF, TSTAT, VARB
Use the SS operator to assign the system status bits to a binary variable (VARB), or to make a comparison
against a binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B)
must be placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X,

x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.
Syntax: VARBn=<i%>SS where “n” is the binary variable number, or SS can be used in an expression
such as IF(SS=b11Ø1), or IF(SS=h7F). NOTE: If you are using multi-tasking, be aware that
each task has its own system status register. If you wish to check the system status of an external
task (a task other than the task that is executing the SS operator), then you must prefix the SS
operator to address the targeted task (e.g., 2%SS for the system status of Task 2).
The function of each system status bit is shown below.
BIT (Left to Right) Function (1 = yes, Ø = no) BIT (Left to Right) Function (1 = yes, Ø = no)
1 System Ready 17 Loading Thumbwheel Data (TW)
2 RESERVED 18 External Program Select Mode (INSELP)
3 Executing a Program (see EXE) 19 Dwell in Progress (T command)
4 Immediate Command (set if last 20 Waiting for RP240 Data—DREAD or
command was immediate) DREADF
5 In ASCII Mode 21 RP240 Connected — current PORT
setting only
6 In Echo Mode — current PORT 22 Non-volatile Memory Error
setting only
7 Defining a Program 23 GV6K: Servo data gathering transmission
in progress:
GT6K: Reserved
8 In Trace Mode 24 Suspended on Swap (see LOCK)
9 In Step Mode 25 RESERVED
10 In Translation Mode 26 Suspended on COM1 (see LOCK)
11 Command Error Occurred (bit is 26 Suspended on COM2 (see LOCK)
cleared when TCMDER is issued)
12 Break Point Active (BP) 28 Program Pending (see EXE command)
13 Pause Active 29 Compiled memory is 75% full
14 Wait Active (WAIT) 30 Compiled memory is 100% full
15 Monitoring On Condition (ONCOND) 31 * Compile operation failed (PCOMP) **
16 Waiting for Data (READ) 32 EXE Failed (see EXE command)
* Bit #31: failed PCOMP compile is cleared on power up, RESET, or after successful compile. Possible causes include:
• Errors in profile design (e.g., change direction while at non-zero velocity; distance & velocity equate to < 1 count
per system update; preset move profile ends in non-zero velocity)
• Profile will cause a Following error (see TFSF, TFS, or FS command descriptions)
• Out of memory (see SS bit #30)
• Axis already in motion at the time of the PCOMP command
• Loop programming errors (e.g., no matching PLOOP or PLN; more than 4 embedded PLOOP/END loops)
• PLCP program contains invalid commands.
If it is desired to assign only one bit of the system status value to a binary variable, instead of all 32, the bit
select (.) operator can be used. For example, VARB1=SS.12 assigns system status bit 12 to binary
variable 1: *VARB1=XXXX_XXXX_XXXØ_XXXX_XXXX_XXXX_XXXX_XXXX.
Example:
VARB1=SS ; System status assigned to binary variable 1
IF(SS=b111011X11) ; If the system status contains 1s in bit locations 1, 2, 3,
; 5, 6, 8, & 9, and a 0 in bit location 4, do the IF
; statement
IF(SS=h7F00) ; If the system status contains 1s in bit locations 1, 2, 3,
; 5, 6, 7, & 8, and 0s in every other bit location, do the IF
; statement
NIF ; End of second IF statement
NIF ; End of first IF statement

STARTP Start-Up Program
Type Program Definition Product Rev
Syntax <a_><!>STARTP<t> GT6K 6.0
GV6K 6.0
Default n/a
Response STARTP: *STARTP MAIN
See Also DEF, RESET, SCALE
The STARTP command assigns an existing program to be executed automatically when the Gem6K drive is
powered up or reset. A reset may be invoked by sending the RESET command, or activating the hardware
Reset input (pin 3 on the DRIVE I/O connector). For example, STARTP MAIN assigns program MAIN
(previously defined with DEF MAIN) as the startup program.
If the program that is identified as the STARTP program is deleted with the DEL command, the STARTP
assignment is automatically cleared. If you wish to prevent the STARTP program from being executed,
without having to delete the assigned program, issue the STARTP CLR command.
Example:
DEL WakeUp ; Delete program WakeUp
DEF WakeUp ; Begin definition of program WakeUp
INFNC1-B ; Assign input #1 as a BCD program select input
STARTP WakeUp ; Assign program WakeUp as the startup program
STARTP CLR ; Clears the program WakeUp from its assignment as the
; start-up program
DEL WakeUp ; Deletes the program WakeUp and clears the STARTP command
; (no power-up program will be executed)
STEP Single Step Mode Enable

Syntax <a_><!>STEP GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response STEP: *STEP0
See Also [ # ], BP, [ SS ], TRACE, TRACEP, TRANS, TSS
The STEP command enables single command step mode. Single step mode is used for stepping through a
defined (DEF) program. To execute single step mode:
1. Define a program (DEF)
2. Enable single step mode (STEP1)
3. Enable trace mode (TRACE1)
4. Run the program (RUN)
5. Use the immediate pound (!#) to step through the program
Each step (!#) command will initiate the next command to be processed.
Example:
DEF tester ; Begin definition of program named tester
; (Note: This command will not be executed until a !# sign
; is received.)
D1 ; Set distance to 1 unit
OUT11X1 ; Turn on outputs 1, 2, and 4, leave 3 unchanged

STEP1 ; Enable single step mode
RUN tester ; Execute program named tester
; **************************************************************************
; * At this point no action will occur because single step mode *
; * has been enabled. Here's how to execute commands: *
; * !#2 (Execute 1st 2 commands in the program: V1 & A10) *
; * !# (Execute 1 command: command to be executed is D1) *
; * !#1 (Execute 1 command: command to be executed is GO1) *
; * !#2 (Execute 2 commands: commands to be executed are OUT11X1 & END) *
; **************************************************************************
STRGTD Target Distance Zone

Syntax <a_><!>STRGTD<r> GT6K n/a
Units r = distance units (scalable with SCLD)
GV6K 6.0
Range 0-999,999,999.99999
Response STRGTD: *STRGTD50 servo axes)
See Also [ AS ], SCLD, STRGTE, STRGTT, STRGTV, TAS, TSTLT
STRGTD sets the target distance zone used in the Target Zone Settling Mode. The target distance zone is a
range of positions around the desired endpoint that the load must be within before motion is considered
complete. If scaling is enabled (SCALE1), the STRGTD value is multiplied by the distance scale factor (SCLD).
When using the Target Zone Settling Mode, the load’s actual position and actual velocity must be within
the target zone (that is, within the distance zone defined by STRGTD and within the velocity zone defined
by STRGTV) before motion can be determined complete. Axis status bit #24 (see TASF, TAS, or AS)
indicates when the axis is within the zone specified with STRGTD and STRGTV; this status bit is usable even
if the Target Zone Mode is not enabled (STRGTE0).
If the load does not settle into the target zone before the timeout period set by STRGTT, the Gem6K drive
detects an error (see TASF, TAS, or AS bit #25, and TER bit #11). If this error occurs, you can prevent
subsequent command and/or move execution by enabling bit #11 in the ERROR command to continually
check for this error condition, and when it occurs to branch to a programmed response defined in the
ERRORP program. (Refer to the ERRORP command description for an example of using an error program.)
For more information on target zone operation, refer to the Programmer's Guide.
Example (see STRGTE):
STRGTE Enable Target Zone Settling Mode

Syntax <a_><!>STRGTE GT6K n/a
Units n/a
GV6K 6.0
Response STRGTE: *STRGTE0 servo axes)
See Also COMEXC, ERROR, STRGTD, STRGTT, STRGTV, TAS, TER, TSTLT
STRGTE enables or disables the Target Zone Settling Mode. When using the target zone settling criterion,
the load's actual position (TPE) and actual velocity (TVELA) must be within the target zone (that is, within
the position zone defined by STRGTD and within the velocity zone defined by STRGTV) before motion can
be determined complete. Axis status bit #24 (see TASF, TAS, or AS) indicates when the axis is within the

zone specified with STRGTD and STRGTV; this status bit is usable even if the Target Zone Mode is not
enabled (STRGTE0).
Example:
STRGTD5 ; Sets the distance target zone to +/-5 units
STRGTV.01 ; Sets the velocity target zone to <= 0.01 units/sec
STRGTT10 ; Sets the timeout period to 10 milliseconds
STRGTE1 ; Enables the target zone criteria
;
; Given these target zone commands, a move with a distance of, for example,
; 8,000 units (D8000) must end up between position 7,995 and 8,005 and settle
; to <=0.01 units/sec within 10 ms after the commanded profile is complete.
STRGTT Target Settling Timeout Period

Syntax <a_><!>STRGTT GT6K n/a
Units i = milliseconds
GV6K 6.0
Range 0-5000
Response STRGTT: *STRGTT1000 servo axes)
See Also [ AS ], [ ER ], ERROR, ERRORP, STRGTD, STRGTE, STRGTV, TAS,
TER, TSTLT
STRGTT sets the maximum time allowed for the load to settle within the defined target zone; exceeding this
time period will generate an error condition.This command is useful only if Target Zone Settling Mode is
enabled with the STRGTE command.
When using the Target Zone Settling Mode, the load's actual position (TPE) and actual velocity (TVELA)
must be within the target zone (that is, within the distance zone defined by STRGTD and within the velocity
zone defined by STRGTV) before motion can be determined complete. Axis status bit #24 (see TASF, TAS,
or AS) indicates when the axis is within the zone specified with STRGTD and STRGTV; this status bit is
usable even if the Target Zone Mode is not enabled (STRGTE0).

STRGTV Target Velocity Zone
Syntax <a_><!>STRGTV<r> GT6K n/a
Units r = units/sec (scalable by SCLV)
GV6K 6.0
Range 0.0000-200.0000 (applicable only to
Default 1.00000 servo axes)
Response STRGTV: *STRGTV1.0000
See Also [ AS ], DMEPIT, ERROR, ERRORP, SCLV, STRGTD, STRGTE, STRGTT,
TAS, TER, TSTLT
STRGTV sets the target velocity zone for use in the Target Zone Settling Mode. The target velocity zone is a
velocity range that the load must be within before motion is considered complete. If scaling (SCALE) is
enabled, the STRGTV value is multiplied by the velocity scale factor (SCLV).
When using the Target Zone Mode, the load's actual position and actual velocity must be within the target
zone (that is, within the distance zone defined by STRGTD and less than or equal to the velocity defined by
STRGTV) before motion can be determined complete. Axis status bit #24 (see TASF, TAS, or AS) indicates
when the axis is within the zone specified with STRGTD and STRGTV; this bit is usable even if the Target
Zone Mode is not enabled (STRGTE0).
[ SWAP ] Task Swap Assignment

Type Assignment or Comparison; Multi-Tasking Product Rev
Syntax See Below GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also %, [ SS ], TTASK, TSWAP, TSKTRN, TSKAX, TSS
The SWAP command allows a binary bit pattern indicating the tasks that are currently active to be assigned
to a binary variable, or evaluated in a conditional statement such as IF or WAIT. This is useful for
ascertaining which tasks have any activity. To ascertain exactly what activity a specific task has at a given
time, use the system status commands (SS or TSS).
SWAP’s binary 10-bit pattern represents tasks 1-10, from left to right. A “1” indicates that the task is active,
and a “0” indicates that the task is inactive. The “Task Supervisor”, represented by task Ø, is always active
and is therefore not included in the SWAP and TSWAP status.
Syntax: VARBn=SWAP where “n” is the binary variable number, or SWAP can be used in an expression such
as IF(SWAP=b1001000000) or IF(SWAP.3=b1) or IF(SWAP=h7F0).
To check the status of only one task, you may use the bit select (.) operator. For example,
VARB1=SWAP.2 assigns the binary state of Task2 to binary variable 1; or WAIT(SWAP.2=b1)
establishes a wait condition that evaluates true when Task2 becomes active.

T Time Delay
Syntax <a_><!>T<r> GT6K 6.0
Units r = seconds
GV6K 6.0
Range 0.001-999.999
Default n/a
Response n/a
See Also GOWHEN, PS, [ SS ], [ TIM ], TTIM, TSS, WAIT
The Time Delay (T) command pauses command processing for r seconds before continuing command
execution. Once the elapsed time has expired, the command after the T command will be executed.
The minimum resolution of the T command is 2 milliseconds (ms). Although you can enter time delays that
are not multiples of 2 ms, the time delay will be rounded up to the next multiple of 2 ms. For example,
T.005 produces a 6 ms time delay.
VARI variables may be substituted for the T command value (e.g., T(VARI5)).
Example:
T5 ; Wait 5 seconds before executing TPE command
TPE ; Transfer position of encoder to the terminal
TACC Transfer Commanded Acceleration

Type Transfer Product Rev
Syntax <a_><!>TACC GT6K 6.0
Units revs/sec/sec GV6K 6.0
Range n/a
Default n/a
Response TACC: *TACC100
See Also A, AD, DMEPIT, HOMA, LHAD, LSAD, TVEL
TACC reports the commanded acceleration.

[ TAN( ) ] Tangent
Syntax ... TAN(r) (See below) GT6K 6.0
Units r = radians or degrees depending on RADIAN command
GV6K 6.0
Range ±17500.0000000 radians
Default n/a
Response n/a
See Also [ ATAN ], [ COS ], [ PI ], RADIAN, [ SIN ], VAR
The TAN operator is used to calculate the tangent of y

a number given in radians or degrees (see the
RADIAN command). If "a" and "b" are coordinates
of a point on a circle of radius "r", then the angle of sin θ = a
measure "θ" can be defined by the equation: r
a r
tan θ =
b θ a cos θ = b
r
x
b
If a value is given in radians and a conversion is tan θ = a
needed to degrees, use the following formula: b
Syntax: VARx=TAN(r), where x is the numeric
variable number and r is a value in either radians or
degrees depending on the RADIAN command.
Parentheses ( () ) must be placed around the TAN
operand. The result will be specified to 5 decimal
places.
Example:
VAR1=5 * TAN(PI/4) ; Set variable 1 = 5 times the tangent of Pi divided by 4
TANI Transfer Analog Input Voltage

Syntax <a_><!><@>TANI<.i> GT6K 6.0
Units B = I/O brick
GV6K 6.0
i = location on I/O brick
Range i = 1-32
Default n/a
Response 1TANI *1TANIx,x,x,x,x,x,x,x
+5.802,-4.663,-4.972, +6.023,+2.126,+2.223, ...
x,x,x,x,x,x,x,x
x,x,x,x,x,x,x,x
1TANI.10 *-4.663
See Also ANIRNG, [ ANI ], [ FB ], TFB,
The TANI command returns the voltage level present at the ANI analog inputs. The value reported with the
TANI command is measured in volts.
If you omit the brick number, the value of the onboard analog input (ANI.1) will be reported. To determine
the analog value from a specific input on an external I/O brick, use the bit select operator (.). For example,
to check the voltage of the 2nd analog input on the 3rd SIM (I/O location 18) of I/O brick 2, use the
2TANI.18 command. To understand more about the location of I/O points on external I/O bricks, see page
8.
The TANI value is derived from the voltage applied to the corresponding analog input and ground. The
analog value is determined from a 12-bit analog-to-digital converter (ADC). Under the default ANI voltage
range, set with ANIRNG, the range of the ANI operator is -10.000VDC to +10.000VDC (see ANIRNG
command for optional voltage ranges).

TANO Transfer Analog Output Value
Syntax <a_><!><@>TANO.i GT6K 6.0
GV6K 6.0
i = input/output location on brick “B”
Range B = 1-8 (depending on I/O brick configuration)
i = 1-32 (depending on I/O brick configuration)
Default n/a
Response 1TANO.9: *1TANO.9=0.00
See Also [ ANO ], ANO, TIO
Use the TANO command to report the value of an analog output channel.
Example:
>1TANO.9 ; Report the commanded analog output voltage at bit 9 of I/O brick 1.
*1TANO.9=0.00
TAS Transfer Axis Status

Syntax <a_><!>TAS<.i> GT6K 6.0
Units i = bit location for the axis (See below)
GV6K 6.0
Range 1-32
Default n/a
Response TAS: *TAS0000_0000_0000_0000_0000_0000_0000_0000
bit 1 bit 32
TAS.5: *0 (bit 5 of status register)
See Also [ AS ], [ ASX ], DSTALL, ESTALL, GOBUF, GOWHEN, HOM, JOG, JOY,
MA, MC, SMPER, STRGTD, STRGTE, STRGTT, STRGTV, TASF, TASX,
TSTAT
The TAS command returns the current status of the axis.
FULL-TEXT STATUS REPORT AVAILABLE

The TAS status command reports a binary bit report. If you would like to see a more
descriptive text-based report, use the TASF command description.
Bit #
1 Motion is commanded. (CAUTION: This bit could be cleared X X ----------

even while the motor is still “moving” – e.g., due to end-of-
move settling.)
2 Negative/positive-direction (1 = negative, Ø = positive). X X ----------
3 Accelerating (commanded acceleration only – TACC). This bit X X ----------
does not indicate commanded deceleration (bit is set to 0
during decel); to check if the axis is decelerating, the state of
TAS bits 1, 3 and 4 should be: TAS1x00.
4 At commanded velocity (TVEL). X X ----------
5 Home Successful (HOM) (YES/NO) X X ----------

6 Absolute/Incremental (MA) position mode selected. X X ----------
(1 = MA1, Ø = MA0)
7 Continuous/Preset (MC) position mode selected. X X ----------
(1 = MC1, Ø = MC0)
8 Jog Mode selected (JOG) -- -- ----------
(1 = JOG1, Ø = JOG0)

9 Joystick Mode selected (JOY) -- -- ----------
(1 = JOY1, Ø = JOY0)
10 RESERVED -- -- ----------
11 Position Maintenance Mode X -- ----------
12 Stall Detected (ESTALL) X -- ----------
13 Drive shut down. NOTE: If operating in the FLTDSB1 mode, X X DRIVE1

a shutdown (DRIVE0 or open the Enable input interlock) will
cause a “fault condition” – see note * below.
14 * Drive Faults occurred. X X DRIVE1
Check the TASX response to identify which fault(s) occurred.
15 Positive-direction hardware limit hit. This is not a “fault X X LHØ or GO in opposite
16 Negative-direction hardware limit hit. This is not a “fault X X LHØ or GO in opposite
17 Positive-direction Software Limit (LSPOS) Hit. X X LSØ or GO in opposite

direction.
18 Negative-direction Software Limit (LSNEG) Hit. X X LSØ or GO in opposite
direction.
19 Position Error X -- ---------
20 RESERVED -- -- ---------
21 RESERVED -- -- ---------
22 RESERVED -- -- ---------
23 * Position error exceeded (SMPER). -- X DRIVE1
24 In Target Zone (defined with STRGTD & STRGTV). This bit is set -- X GO1
only after the successful completion of a move (if STRGTD and
STRGTV criteria have been satisfied). This bit is usable even if
the Target Zone mode is not enabled (STRGTE0).
25 Target Zone Timeout occurred (STRGTT). -- X GO1

26 Change in motion is suspended pending GOWHEN (YES/NO). X X (see description)
This bit is cleared if the GOWHEN condition is true, or if STOP
(!S) or KILL (!K or ^K) is executed
27 RESERVED -- -- ---------
28 Registration move initiated by trigger since last GO command. X X GO1
This bit is cleared with the next GO command.
29 GOWHEN error occurred. The input state or the position X X ---------

relationship specified in a GOWHEN command was already true
when the subsequent GO, FGADV, FSHFC or FSHFD command
was executed.
30 Pre-emptive (OTF) GO or Registration profile not possible X X GO1
31 Compiled GOBUF profile is executing. X X ---------
32 RESERVED -- -- ---------

TASF Transfer Axis Status (full-text report)
Syntax <a_><!>TASF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TASF: (see example below)
See Also [ AS ], [ ASX ], DSTALL, ESTALL, GOBUF, GOWHEN, HOM, JOG, JOY,
MA, MC, SMPER, STRGTD, STRGTE, STRGTT, STRGTV, TAS, TASX,
TSTAT
The TASF command returns a text-based status report. This is an alternative to the binary report (TAS).
Example TASF response:
*TASF AXIS #
* 1
*Moving NO
*Direction NEG NO
*Accelerating NO
*At Velocity NO
*
*Home successful NO
*Mode Absolute NO
*Mode Continuous NO
*Jog Mode NO
*
*Joystick Mode NO
*RESERVED NO
*Position Maint Mode NO (RESERVED for GV6K)
*Stall Detected NO (RESERVED for GV6K)
*
*Drive Shutdown NO
*Drive Faulted NO
*POS Hard Limit Hit NO
*NEG Hard Limit Hit NO
*
*POS Sftwr Limit Hit NO
*NEG Sftwr Limit Hit NO
*Within Deadband NO (RESERVED for GV6K)
*RESERVED NO
*
*RESERVED NO
*RESERVED NO
*Pos Error Exceeded NO (RESERVED for GT6K)
*In Target Zone YES (RESERVED for GT6K)
*
*Target Zone Timeout NO (RESERVED for GT6K)
*Gowhen is Pending NO
*RESERVED NO
*Reg Move Commanded NO
*
*Gowhen Error NO
*Preset Move Overshot NO
*Executing Profile NO

[ TASK ] Task Number Assignment
Units The TASK value is the number of the controlling task.
GV6K 6.0
Range 0-10
Default n/a
Response n/a
See Also %, TTASK, VAR, VARI
The TASK operator allows the program itself to determine which task is executing it. The current task
number TASK may be assigned to a numeric or integer variable or evaluated in a conditional statement,
such as IF or WAIT.
Syntax: VARn=TASK or VARIn=TASK where “n” is the variable number; or TASK can be used in an
expression, such as IF(TASK=3).
The TASK operator allows a single program to be used as a subroutine called from programs running in all
tasks, yet this routine could contain sections of statements which are executed by some tasks and not others.
The example below demonstrates statements used to execute different WAIT-for-input conditions,
depending on the task that is executing the program.
Example:
IF (TASK=1) ; Check if this program is operating in task 1
WAIT(1IN.3=B1) ; If in task 1, wait for input at location 3 on I/O brick 1
NIF
IF(TASK=2) ; Check if this program is operating in task 2

WAIT(2IN.11=B1) ; If in task 2, wait for input at location 11 on I/O brick 2
NIF
TASX Transfer Extended Axis Status

Syntax <a_><!>TASX<.i> GT6K 6.0
Units i = bit location for the axis (See below)
GV6K 6.0
Range 1-32
Default n/a
Response TASX: *1TASX0000_0000_0000_0000_0000_0000_0000_0000
bit 1 bit 32
TASX.5: *0 (bit 5 of status register)
See Also [AS], [ASX],DCLRLR, DRIVE, DSTALL, [ER], TAS, TASXF, TER
The TASX command reports axis status conditions.

The TASX status command reports a binary bit report. If you would like to see a more
descriptive text-based report, use the TASXF command description.

Bit # Function (1 = Yes; Ø = No) GT6K GV6K To Clear This Status Bit:
1 * Motor temperature fault (hardware switch in the motor). X X DRIVE1

2 * Low voltage fault X X DRIVE1
3 * Drive over-temperature fault (hardware thermal sensor in X X DRIVE1
drive).
4 RESERVED -- -- ----------
5 * Resolver failure. -- X RESET or cycle power
6 RESERVED -- -- ----------
7 * Motor configuration error occurred (checked on power up). X X Resolve error condition (see
Use TCS to ascertain the cause of the error. This is a fault TCS) and issue RESET or
condition which causes a drive shutdown (DRIVE0). DRESET or cycle power
8 RESERVED -- -- ----------
9 * Velocity error limit (SMVER value) has been exceeded. -- X DRIVE1
10 * Bridge fault (hardware signal from the bridge) X X RESET or DRESET or cycle power
11 * Bridge temperature fault (this is a software control). -- X DRIVE1
12 * Over-voltage. -- X RESET or DRESET or cycle power
13-16 RESERVED -- -- ----------
17 Stall detected (DSTALL or ESTALL) X -- DRIVE1
18 Override mode was invoked. (See DMVLIM command.) X X DCLRLR or RESET or DRESET or
cycle power
19 Bridge is in foldback mode. -- X DCLRLR or RESET or DRESET or
cycle power
20 Power Dissipation Circuit has been active – X X DCLRLR or RESET or cycle power
not applicable to GV6K-U3, GV6K-U6, and GV6K-U12 drives
21 * Bad Hall state detected. (Use THALL for diagnostics.) -- X RESET or cycle power
22 * Unrecognized hardware — consult factory X X RESET or cycle power
23 * User Fault input activated (INFNCi-F) X X Deactivate the input
24 Keep Alive active (User supplied +24VDC) X X ----------
25 Power dissipation circuit fault (excessive power dissipation) X X DRIVE1
26 RESERVED -- -- ----------
27 RESERVED -- -- ----------
28 Motor configuration warning resulting from trying to run the X X Resolve error condition (see
motor beyond acceptable limits. Use TCS to ascertain the TCS) and issue RESET or DRESET
cause of the warning. or cycle power
29 * ORES failure (encoder output or step & direction output X X DRIVE1
exceeds the maximum output frequency).
30 * Motor Thermal model fault. -- X Let the motor cool, then issue
DRIVE1.
31 Commanded torque/force is at limit (TTRQ = DMTLIM). -- X DCLRLR or RESET or DRESET or
cycle power
32 RESERVED -- -- ---------

TASXF Transfer Extended Axis Status, (full-text report)
Syntax <a_><!>TASXF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TASXF: (see example below)
See Also [AS], [ASX], DSTALL, [ER], TAS, TASX, TER
The TASXF command returns a text-based status report. This is an alternative to the binary report (TASX).
Example TASXF response:
*TASXF AXIS #
* 1
*Motor Fault NO
*Low-voltage NO
*Over-temperature NO
*RESERVED NO
*
*Resolver Failure NO (RESERVED for GT6K)
*RESERVED NO
*Motor Config Error NO
*RESERVED NO
*
*SMVER Exceeded NO (RESERVED for GT6K)
*Bridge Fault NO
*Bridge Temp Fault NO (RESERVED for GT6K)
*Over-voltage NO (RESERVED for GT6K)
*
*RESERVED NO
*RESERVED NO
*RESERVED NO
*RESERVED NO
*
*Drive Stall Detected NO (RESERVED for GV6K)
*Override Mode Active NO
*Bridge in Foldback NO (RESERVED for GT6K)
*Power Dissip Active NO
*
*Bad Hall State NO (RESERVED for GT6K)
*Unrecognized Hardware NO
*User Fault NO
*Keep Alive Active NO
*
*Power Dissipat Fault NO
*RESERVED NO
*RESERVED NO
*Motor Config Warning NO
*
*ORES Failure NO
*Motor Thermal Fault NO (RESERVED for GT6K)
*Torque at Limit NO (RESERVED for GT6K)
*RESERVED NO

TCMDER Transfer Command Error
Type Transfer or Program Debug Tool Product Rev
Syntax <a_><!>TCMDER GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TCMDER: *(incorrect command)
See Also ERRBAD, [ SS ], TSS
For program debugging, use TCMDER to transfer the command that the drive detects as an error. This is
especially useful if you receive an error message when running or downloading a program, because it catches
and remembers the first command that caused the error.
When the bad command is detected, the drive sends an error message to the screen, followed by the
ERRBAD error prompt (?). To determine which command is in error, enter the TCMDER command and the
drive will display the command, including all its command fields, if any.
Once a command error has occurred, the command and its fields are stored and system status bit #11
(reported in the TSSF, TSS, and SS commands) is set to 1. The status bit remains set until the TCMDER
command is issued.
Example:
DEL badprg ; Delete program called badprg
DEF badprg ; Begin definition of program called badprg
MA1 ; Select the absolute preset positioning mode
AD11 ; Set deceleration
V5 ; Set velocity
VAR1=0 ; Set variable #1 equal to zero
GO1 ; Initiate move
IF(VAR1<)16 ; Mistyped IF statement—should be typed as: IF(VAR1<16)
VAR1=VAR1+1 ; If variable #1 is less than 16, increment the counter by 1
END ; End programming of program called badprg
RUN badprg ; Run the program called badprg
; (this will cause an error --see comment box below)
; **********************************************************************
; * 1. When you run the badprg program, you should see this error *
; * message on your screen: "*INCORRECT DATA" (this error message *
; * indicates incorrect command syntax). *
; * 2. Type "TCMDER" and press enter. This queries the drive to *
; * display the command that caused the error. In this case, the *
; * response will be "*IF(VAR1<)16". *
; **********************************************************************

TCS Transfer Configuration Status
Syntax <a_><!>TCS GT6K 6.0
Units Fault/Warning code (see table below) GV6K 6.0
Range n/a
Default n/a
Response TCS: *TCS46
See Also DMTR, TASX
TASX bit #7 is set when a motor configuration error occurs. TASX bit #28 is set when a motor configuration
warning occurs. An error causes the drive to be shut down (DRIVE0). A warning means the drive attempted
to control the motor outside of safe operating limits (in this case, the maximum safe configuration value is
used). To help ascertain the cause of the error or warning, the TCS command reports any existing
configuration error or warning conditions (refer to the table below).
NOTE: TCS reports only one code. If there is more than one error or warning condition present, errors will
overwrite warnings. Therefore, to resolve multiple error or warning conditions:
1. Resolve the known error.
2. Cycle power to the drive, issue a RESET command, or activate the Reset input.
3. If another error condition presents itself (e.g., the drive will not enable), check for subsequent errors
with the TCS command.
Fault / Drive TASX

Code Warning Type Condition Method to clear Bit Set
-32228 Fault GV6K ERES ≠ 4096 during SFB4 Change ERES to 4096 (ERES4096). Bit 7
-32238 Fault GV6K Internal position loop gains ≤ 0. Increase one or all of the following: Bit 7
DPBW, SGPRAT, SGPSIG. Recheck
DMTKE, DMTJ, LJRAT, DMTD,
LDAMP.
-32248 Fault GV6K Internal velocity loop gains ≤ 0. Increase SGVRAT. Recheck DMTKE, Bit 7
DMTJ, LJRAT, DMTD, DVBW, LDAMP.
-32259 Fault GV6K Internal current loop gains < 0. Increase DIBW and/or re-check Bit 7
DMTRES, DMTLMN, DMTLMX and
SGIRAT.
-32367 Fault GT6K Drive resolution (DRES) is too low Increase DRES value to be at least Bit 7
for the number of motor pole pairs. 4 x DPOLE.
-32710 Fault Both DMTJ = 0 Enter non zero value. Bit 7
-32714 Fault GV6K DMTLMX = 0 Enter non zero value. Bit 7
-32715 Fault GV6K DMTLMN = 0 Enter non zero value. Bit 7
-32718 Fault GV6K DMTW = 0 Enter non zero value. Bit 7
-32723 Fault Both DPOLE = 0 Enter non zero value. Bit 7
-32725 Fault Both DMTRES = 0 Enter non zero value. Bit 7
-32726 Fault GT6K DMTIND = 0 Enter non zero value. Bit 7
-32727 Fault GV6K DMTKE = 0 Enter non zero value. Bit 7
-32729 Fault GT6K DMTSTT = 0 Enter non zero value. Bit 7
40 Warning Both DMTIC = 0 Enter non zero value. Bit 28
46 Warning GT6K DIGNA = 0 Enter non zero value. Bit 28
47 Warning GT6K DIGNB = 0 Enter non zero value. Bit 28
48 Warning GT6K DIGNC = 0 Enter non zero value. Bit 28
49 Warning GT6K DIGND = 0 Enter non zero value. Bit 28
51 Warning GV6K DMTIP = 0 Enter non zero value. Bit 28

Fault / Drive TASX
Code Warning Type Condition Method to clear Bit Set
400 Warning Both DMTIC is too high for power level Is drive sized properly? Lower Bit 28
of drive. The drive’s continuous DMTIC.
current rating is used instead.
500 Warning GV6K DMTLIM is too high for the drive’s Lower DMTLIM and/or recheck Bit 28
peak current rating. DMTKE.
503 Warning GV6K DMTIP is set too high. Drive is Is drive sized properly? Lower Bit 28
set to maximum value. DMTIP.
551 Warning GV6K Notch filter calculation error. Check DNOTAF, DNOTBF, DNOTAQ, Bit 28
DNOTBQ.
560 Warning GV6K Lead frequency (DNOTLD) < 20 Hz. Increase DNOTLD. Bit 28
The last good value is used.
(0 = disable)
561 Warning GV6K Lead frequency (DNOTLD) > 4 times Lower DNOTLD or turn off Lead Bit 28
the lag frequency (DNOTLG). The Filter (DNOTLD = 0).
last good value is used.
(0 = disable)
TDHRS Transfer Operating Hours

Syntax <a_><!>TDHRS GT6K 6.0
Units Lifetime operating hours GV6K 6.0
(resolution is ¼ or 0.25 hours)
Range Hour counter rolls over at 16384.00 hours
Default n/a
Response TDHRS: *TDHRS16.5
See Also RESET, TERRLG
The TDHRS command reports the lifetime number of hours (to the nearest ¼ hour) that the Gem6K drive
has had power applied.
NOTE: The hour count rolls over at 16,384.00 hours.
TDICNT Transfer Continuous Current Rating

Syntax <a_><!>TDICNT GT6K 6.0
Units Amps peak GV6K 6.0
Range n/a
Default n/a
Response TDICNT: *TDICNT10
See Also DMTIC, DMTIP, TDIMAX
The TDICNT command reports the continuous current rating of the drive in amps peak. Note that most other
current-related parameters (e.g., DMTIC, DMTIP) are in amps RMS.

TDIMAX Transfer Maximum Current Rating
Syntax <a_><!>TDIMAX GT6K n/a
Units Amps peak
GV6K 6.0
Range n/a
Response TDIMAX: *TDIMAX10 servo axes)
See Also DMTIP, DMTIP, TDICNT
The TDIMAX command reports the maximum current rating of the drive in amps peak.
Note that most other current-related parameters (e.g., DMTIC, DMTIP) are in amps RMS.
TDIR Transfer Program Directory

Syntax <a_><!>TDIR GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TDIR: *NO PROGRAMS DEFINED
*150000 OF 150000 BYTES (100%) PROGRAM MEMORY REMAINING
*1973 of 1973 SEGMENTS (100%) COMPILED MEMORY REMAINING
See Also DEF, INFNC, MEMORY, PLCP, [ SEG ] TMEM, TSEG
TDIR returns the names of all the programs and subroutines defined with the DEF command, and the
amount of memory each consumes. The format of the response is as follows:
*1 - PROG1 USES 345 BYTES
*2 - PROG2 USES 333 BYTES
*14322 OF 15ØØØØ BYTES (98%) PROGRAM MEMORY REMAINING
*1973 of 1973 SEGMENTS (1ØØ%) COMPILED MEMORY REMAINING
(In the above example, PROG1 and PROG2 are names of programs.)
The number in front of the program name is the number to use when defining specific inputs (INFNC) to
correspond to a specific program (function P of INFNC), or when programs are selected via BCD (function
B of INFNC).
If the program is intended to be a compiled profile and has been successfully compiled (PCOMP), then the
line item for a compiled GOBUF program is amended with “COMPILED AS A PATH”, and the line item for a
compiled PLCP program is “COMPILED AS A PLC PROGRAM.”

TDPTR Transfer Data Pointer Status
Syntax <a_><!>TDPTR GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TDPTR *TDPTR1,1,1
See Also DATPTR, DATSIZ, [ DPTR ]
The TDPTR command responds with a 3-integer status report (i,i,i). The first integer is the number of the
current active data program (the program number specified with the last DATSIZ or DATPTR command).
The second integer is the location number of the data element to which the data pointer is currently
pointing. The third integer is the increment set with the last DATPTR command.
The DPTR command can be used to compare the current pointer location against another value or variable,
or to assign the pointer location number to a variable.
Example
DATSIZ4,200 ; Create data program called DATP4 with 200 data elements
DATPTR4,20,2 ; Set the data pointer to data element #20 in DATP4 and set the
; increment to 2 (DATP4 becomes the current active data program)
TDPTR ; Response is *TDPTR4,20,2. Indicates that the data pointer is
; pointing to data element #20 in data program #4 (DATP4),
; and the increment setting is 2.
TDTEMP Transfer Drive Temperature

Syntax <a_><!>TDTEMP GT6K 6.0
Units Degrees C GV6K 6.0
Range n/a
Default n/a
Response TDTEMP: *TDTEMP50
See Also DMONAV, DMONBV, TERRLG
The TDTEMP reports the measured temperature (internal) of the drive.
TDVBUS Transfer Bus Voltage

Syntax <a_><!>TDVBUS GT6K 6.0
Units Volts GV6K 6.0
Range n/a
Default n/a
Response TDVBUS: *TDVBUS170
See Also
GT6K: TDVBUS reports the currently measured bus voltage of the drive.
GV6K: TDVBUS reports the nominal DC bus voltage (see calculation below) when the drive is first
powered up.
169V ( = 2 * 120) or 339V ( = 2 * 240)

TER Transfer Error Status
Syntax <a_><!><%>TER<.i> GT6K 6.0
Units i = specific error status bit (specific to the task)
GV6K 6.0
Range 1-32
Default n/a
Response TER: *TER0000_0000_0000_0000_0000_0000_0000_0000
bit 1 bit 32
TER.4: *0 (bit 4 of error status register for Task 0)
See Also [ ASX ], DSTALL, [ ER ], ERROR, ERRORP, ESTALL, GOWHEN, INFNC,
LH, LIMFNC, LS, SMPER, STRGTT, TASX, TCMDER, TERF
The TER command returns the status of the 32 error bits. There is one error status register per Task. The
TER status command reports a binary bit report. If you would like to see a more descriptive text-based
report, use the TERF command description.
NOTES
• The specific error bits must be enabled by the Error Enable (ERROR) command before the TER
command will provide the correct status of the error conditions.
• Multi-tasking: If you are using multi-tasking, be aware that each task has its own error status
register. Therefore, to check a specific task’s error status, you must prefix the TER command with
the task identifier (e.g., 2%TER to check error status for Task 2). If no task identifier is given, the
TER response is for the task supervisor (Task 0).
The function of each error status bit is shown below.

Bit #
1 Stall detected: Functions when stall detection has been enabled X -- GO

(ESTALL or DSTALL), and Kill on Stall is enabled (ESK1).
2 Hardware end-of-travel limit hit. This condition is detectable X X LHØ or GO in opposite
only when the limits are enabled (LH3). direction.
3 Software end-of-travel limit hit. This condition is detectable only X X LSØ or GO in opposite
when the limits are enabled (LS3). direction.
4 Drive fault: Detected only if the drive is enabled (DRIVE). X X Varies with Fault –
refer to TASX
5 RESERVED (see note at end of table; refer to ERROR command) X X ---------

6 Kill input activated. An input defined as a Kill input (INFNCi-C) X X Deactivate input
was activated.
7 User Fault input activated. Input must be assigned the user fault X X Deactivate input
function (INFNCi-F).
8 Stop input activated. An input defined as a Stop input X X Deactivate input
(INFNCi-D) was activated.
9 Enable input is not grounded. X X Ground the Enable

Input
10 Pre-emptive (on-the-fly) GO or registration move profile not X X Issue another GO
possible. command
11 Target Zone Settling Timeout Period (set with the STRGTT -- X STRGTE0 : D0 : GO :
command) is exceeded. STRGTE1
12 Maximum position error (set with the SMPER command) is -- X DRIVE1

exceeded.
13 RESERVED -- -- ---------
14 GOWHEN condition already true when a subsequent GO, FSHFC, X X ---------
or FSHFD is executed.
15 RESERVED -- -- RESERVED
16 Bad command detected -- X TCMDER

17 RESERVED -- -- RESERVED
18 Cable to an expansion I/O brick is disconnected, or power to the X X Reconnect I/O brick,
I/O brick is lost. issue ERROR.18-0,
(Multi-tasking: This condition also kills all tasks.) then ERROR.18-1
19 RESERVED -- -- ---------
20 RESERVED -- -- ---------
21 RESERVED -- -- ---------
22 RESERVED -- -- ---------
23 Ethernet Client connection error. X X Clear error bit
(ERROR.23-0), then
re-establish Ethernet
connection, and issue
ERROR.23-1
24 Ethernet Client polling error. X X Clear error bit
(ERROR.24-0), then
re-establish Ethernet
connection, and issue
ERROR.24-1
25-32 RESERVED -- -- ---------
Error Handling: Each TER status bit has a corresponding error-checking bit that can be enabled with the
ERROR command. If an error-checking bit is enabled and the error occurs, the Gem6K drive will branch to
the “error program,” which is assigned with the ERRORP command. For additional details on handling
errors, refer to the ERROR and ERRORP command descriptions, and the Error Handling section in the
NOTE: When error bit 5 (Commanded Kill or Stop) of the ERROR command is enabled (ERROR.5-1), a
Stop (!S) or a Kill (!K or <ctrl>K) command will cause the drive to GOSUB or GOTO to the error
program (ERRORP). Within the error program the cause of the error will need to be determined. The TER
command can be used to determine the cause of the error. If none of the error status bits are set, the cause
of the error is a commanded kill or a commanded stop. The reason for not setting a bit on this error
condition is that there is no way to clear the error condition upon leaving the error program.

TERF Transfer Error Status (full-text report)
Syntax <a_><!><%>TERF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TERF: (see example below)
See Also [ ASX ], DSTALL, [ ER ], ERROR, ERRORP, ESTALL, GOWHEN, INFNC,
LH, LS, SMPER, STRGTT, TASX, TCMDER, TER
The TERF command returns a text-based status report. This is an alternative to the binary report (TER). Example
TERF response:
*TERF
*Stall Detected NO
*Hard Limit Hit NO
*Soft Limit Hit NO
*Drive Fault Active NO
*
*RESERVED NO
*Kill Input Active NO
*User Fault Input NO
*Stop Input Asserted NO
*
*Enable Input Open NO
*Profile Impossible NO
*Target Zone Timeout NO
*Max Position Error NO
*
*RESERVED NO
*GOWHEN cond true NO
*RESERVED NO
*Bad command NO
*
*RESERVED NO
*I/O Brick Failure NO
*RESERVED NO
*RESERVED NO
*
*RESERVED NO
*RESERVED NO
*Client Connect Err NO
*Client Polling Err NO

TERRLG Transfer Error Log
Syntax <a_><!>TERRLG GT6K 6.0
Units n/a GV6K 6.0
Range n/a
Default n/a
Response TERRLG: *TAS0000_0000_0000_0000_0000_0000_0000_0000
*TASX0000_0000_0000_0000_0000_0000_0000_0000
*TDHRS104.5
*TDTEMP45
*TMTEMP100
See Also CERRLG, ERRORL, TAS, TASX, TDHRS, TDTEMP, TMTEMP
The error log is updated every time an event occurs, as selected by the ERRORL command. The TERRLG
command displays the last ten error conditions, most recent at the top, which the drive has experienced, as
recorded in these status registers:
• TAS (axis status binary report)
• TASX (extended axis status binary report)
• TDHRS (number of lifetime hours the drive has been powered)
• TDTEMP (temperature of the drive in degrees centigrade)
• TMTEMP (temperature of the motor in degrees centigrade – GV6K only)
NOTE: After an error event occurs and the drive updates the error log, bits may still be recorded in TAS or
TASX for another 120 milliseconds. To find all possible causes of an error event, examine TAS and TASX in
addition to viewing the error log.
The CERRLG command erases the stored contents of the error log. Clearing the error log is a helpful
diagnostic tool; it allows you to start the diagnostic process when the error log is in a known state so that
you can check the error log in response to subsequent events.
NOTE: TERRLG may not be stored in a program.
TEX Transfer Program Execution Status

Syntax <a_><!><%>TEX GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response !TEX: *PROGRAM NOT EXECUTING
See Also DEF
The TEX command reports the status of any programs in progress (in the specified task). If using multi-
tasking, you must prefix the TEX with the task you want to check (e.g., 2%TEX).
If the program PAUL was in progress (in task 0), and within that program a loop was in progress, the
response to !TEX could look like the following: *PROGRAM=PAUL COMMAND=LN LOOP COUNT=12

TFB Transfer Position of Selected Feedback Device
Syntax <a_><!>TFB GT6K n/a
Units Response is position of the selected feedback device
GV6K 6.0
Range n/a
Response TFB *TFB+0 servo axes)
See Also [ FB ], [ PE ], PSET, SCALE, SCLD, SFB, TPCE, TPE
Use the TFB command to return the value of the feedback source selected with the SFB command. If you do
not change the default SFB selection, the response will indicate the encoder position.
If scaling is not enabled, the position values returned will be counts. If scaling is enabled (SCALE1), the
values will be scaled by the SCLD value.
If you issue a PSET command, the feedback device position value will be offset by the PSET command
value.
Example:
TFB ; Report encoder's position.
; Sample response is *TFB2.436
TFS Transfer Following Status

Type Following; Transfer Product Rev
Syntax <a_><!>TFS GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TFS *TFS0000_0000_0000_0000_0000_0000_0000_0000
bit 1 bit 32
See Also FGADV, FMAXA, FMAXV, FMCLEN, FMCP, FOLEN, FOLMAS, FPPEN,
[ FS ], FSHFC, FSHFD, MC, [ NMCY ], [ PMAS ], TFSF
The TFS command returns the current Following status. The response for TFS is as follows:

The TFS status command reports a binary bit report. If you would like to see a more
descriptive text-based report, use the TFSF command description.
Bit Assignment
(left to right) Function (YES = 1; NO = Ø)
1 Follower in Ratio Move A Following move is in progress.
2 Ratio is Negative The current ratio is negative (i.e., the follower counts are counting in the
opposite direction from the master counts).
3 Follower Ratio Changing The follower is ramping from one ratio to another (including a ramp to or
from zero ratio).
4 Follower At Ratio The follower is at constant non-zero ratio.
Bits 1-4 indicate the status of Following motion. They mimic the meaning and
organization of Axis Status (TAS & AS) bits 1-4, except that each bit indicates the
current state of the ratio, rather than the current state of the velocity.
*5 FOLMAS Active A master is specified with the FOLMAS command.

*6 FOLEN Active Following has been enabled with the FOLEN command.
*7 Master is Moving The specified master is currently in motion.
8 Master Dir Neg The current master direction is negative. (bit must be cleared to allow
Following move in preset mode–MCØ).
Bits 5-8 indicate the status required for Following motion (i.e., a master must be
assigned, Following must be enabled, the master must be moving, and for many
features, the master direction must be positive).
Unless the master is a commanded position of another axis, it is likely that minor
vibration of the master will cause bits 7-8 to toggle on and off, even if the master is
nominally “at rest”. These bits are meant primarily as a quick diagnosis for the absence
of master motion, or master motion in the wrong direction. Many features require
positive master counting to work properly.
9 OK to Shift Conditions are valid to issue shift commands (FSHFD or FSHFC).

10 Shifting now A shift move is in progress.
11 Shift is Continuous An FSHFC-based shift move is in progress.
12 Shift Dir is Neg The direction of the shift move in progress is negative.
Bits 9-12 indicate the shift status of the follower. Shifting is super-imposed motion, but if
viewed alone, can have its own status. In other words, bits 10-12 describe only the
shifting portion of motion.
13 Master Cyc Trig Pend A master cycle restart is pending the occurrence of the specified trigger.
14 Mas Cyc Len Given A non-zero master cycle length has been specified with the FMCLEN
command.
15 Master Cyc Pos Neg The current master cycle position (PMAS) is negative. This could be
caused by a negative initial master cycle position (FMCP), or if the master
is moving in the negative direction.
16 Master Cyc Num > 0 The master position (PMAS) has exceeded the master cycle length
(FMCLEN) at least once, causing the master cycle number (NMCY) to
increment.
Bits 13-16 indicate the status of master cycle counting. If a Following application is
taking advantage of master cycle counting, these bits provide a quick summary of some
important master cycle information.
17 Mas Pos Prediction On Master position prediction has been enabled (FPPEN).
18 Mas Filtering On A non-zero value for master position filtering (FFILT) is in effect.
19 RESERVED
20 RESERVED
Bits 17-18 indicate the status of master position measurement features.
21 RESERVED
22 RESERVED
23 OK to do FGADV move OK to do Geared Advance move (master assigned with FOLMAS,
Following enabled with FOLEN, and follower axis is either not moving, or
moving at constant ratio in continuous mode).
24 FGADV move underway Geared Advance move profile is in progress.
Bits 23-24 indicate the status of geared advance features.
25 RESERVED
26 FMAXA/FMAXV limited The present Following move profile is being limited by FMAXA or FMAXV.
27-32 RESERVED
* All these conditions must be true before Following motion will occur.

TFSF Transfer Following Status (full-text report)
Syntax <a_><!>TFSF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TFSF: (see example below)
See Also FGADV, FMAXA, FMAXV, FMCLEN, FMCP, FOLEN, FOLMAS, FPPEN,
[ FS ], FSHFC, FSHFD, MC, [ NMCY ], [ PMAS ], TFS
The TFSF command returns a text-based status report. This is an alternative to the binary report (TFS).
Example TFSF response:
*TFSF AXIS #
* 1
*Follower in Ratio Move NO
*Ratio is Negative NO
*Followr Ratio Changing NO
*Follower At Ratio NO
*
*FOLMAS Active NO
*FOLEN Active NO
*Master is Moving NO
*Master Dir Neg NO
*
*OK to Shift NO
*Shifting now NO
*Shift is Continuous NO
*Shift Dir is Neg NO
*
*Master Cyc Trig Arm NO
*Mas Cyc Len Given NO
*Master Cyc Pos Neg NO
*Master Cyc Num > 0 NO
*
*Pos Prediction On YES
*Master Filtering On NO
*Performing FRC move NO
*RESERVED NO
*
*Master Window given NO
*Inside Master Window NO
*OK to do FGADV move NO
*FGADV move underway NO
*
*RESERVED NO
*FMAXA/FMAXV limited NO
*RESERVED NO

TGAIN Transfer Active Gains
Syntax <a_><!>TGAIN GT6K n/a
Units n/a
GV6K 6.0
Range n/a
Response (list of all gain values) servo axes)
See Also SGENB, SGSET, TSGSET, (see list below)
This command allows you to display the value of each of the gains presently in effect (see list below). Each
time an individual gain is entered, the TGAIN register is updated accordingly. When a gain set is enabled
with the SGENB command, the present value of each gain is set to the values saved in that particular gain
set.

THALL Transfer Hall Sensor Values

Syntax <a_><!>THALL GT6K n/a
Units n/a
GV6K 6.0
Range 1-6 (0 or 7 is a fault condition – see TASX bit #21)
Response THALL: *THALL6 servo axes)
See Also SHALL, TASX
Encoder Motors (with SFB1): The THALL command reports the present Hall sensor value. There are six
distinct Hall states, from 1 to 6. Rotating the motor shaft clockwise, the Hall state order should be 6, 2, 3, 1, 5,
4, 6, 2, 3, 1, 5, 4, 6 (and so on).
THALL values 0 and 7 are invalid and will fault the drive and set TASX bit #21 (in case of this fault, check
the Hall wiring or grounding/noise conditions).
Resolver Motors (with SFB4): If you use a resolver motor, THALL will always report a value of 7.

[ TIM ] Current Timer Value
Units Milliseconds
GV6K 6.0
Range Maximum count is 999,999,999 (approx. 11 days, 13 hours)
Default n/a
Response n/a
See Also TIMINT, TIMST, TIMSTP, TTIM
The TIM command is used to assign the timer value to a variable, or to make a comparison against another
value. The value returned is in milliseconds.
Syntax: VARx=<n%>TIM where x is a numeric variable number, or TIM can be used in an expression such
as IF(TIM<24ØØ). Multi-tasking: If addressing the timer of a specific task, include the n% prefix.
Example:
VAR1=TIM ; Timer value is assigned to variable 1
IF(TIM<1000) ; If timer value is < 1000 milliseconds, do the IF statement
VAR1=TIM + 10 ; Timer value plus 10 assigned to variable 1
TIMINT Timer Value to Cause Alarm Event

Type Timer; Alarm Event Product Rev
Syntax <a_><!>TIMINT, GT6K 6.0
Units i = milliseconds
GV6K 6.0
Range b = 0 (reset and start) or 1 (stop)
i = 0 - 999,999,999
Default 0,0
Response TIMINT: *TIMINT0,0
See Also INTHW, [ TIM ], TIMST, TIMSTP, TTIM
The TIMINT command sets the timer value upon which the Gem6K drive will trigger an Alarm Event. The
time value at which the alarm event will occur is specified by the second field in the command.
NOTES
• To use TIMINT, you must first issue the INTHW.21-1 command to enable checking for the
alarm event.
• When using multi-tasking, this feature only works with the timer for Task zero.
The TIMINT command also determines if the timer is to be stopped when the value is reached, or if the
timer is to be reset and started again. If the timer is to be stopped upon reaching the alarm value, a one
should be specified for the first field. If the timer is to be reset and restarted upon reaching the alarm value,
a zero should be specified for the first field. By specifying a zero in the first field, an alarm will occur
repeatedly.
Example:
INTHW.21-1 ; Enable checking for the timer-driven alarm event
TIMINT1,10000 ; Trigger alarm once after 10000 ms, do not restart the timer
TIMST0 ; Reset and start timer

TIMST Start Timer
Type Timer Product Rev
Syntax <a_><!>TIMST<r> GT6K 6.0
Units b = Enable bit
GV6K 6.0
r = time (milliseconds) if b = 0, task # if b = 1
Range b = 0 (reset and start) or 1 (start from previous TIMSTP)
r = absolute time 0-999,999,999 if b = 0,
or r = task # 0-10 if b = 1
Default 0
Response TIMST: No response, acts as if TIMST1 command was issued
See Also [ TIM ], TIMINT, TIMSTP, TTIM
The TIMST command is used to start the timer.

• If TIMST0, you can start the timer at a specific time in milliseconds (e.g., TIMST0,500).
• If TIMST1, you can resume the timer (after stopping it with the TIMSTP command) with the value of
the time of the specified task (e.g., TIMST1,3).
The timer resolution is 2 ms. The delay for executing TIMST and TIMSTP in combination is 4-6 ms.
If the timer is started and allowed to roll over the maximum timer count of 999,999,999 milliseconds (11
days, 13 hours, 46 minutes, 39.999 seconds), the timer will be stopped, and the value will be frozen at the
maximum value.
Multi-Tasking: Each task has its own timer.
Example:
TIMSTP ; Stop timer
TTIM ; Transfer time required for move
TIMSTP Stop Timer

Type Timer Product Rev
Syntax <a_><!><%>TIMSTP GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also [ TIM ], TIMINT, TIMST, TTIM
The TIMSTP command stops the timer. This command in conjunction with the start timer (TIMST)
command, provides a timer that can be used to time internal or external events.
The timer resolution is 2 ms. The delay for executing TIMST and TIMSTP in combination is 4-6 ms.
Example:
TIMSTP ; Stop timer
TTIM ; Transfer time required for move

TIN Transfer Input Status
Syntax <a_><!><@>TIN<.i> GT6K 6.0
Units i = input number on the specified I/O brick (B) — see page 8
GV6K 6.0
Range 1-32 (dependent on I/O brick and options installed)
Default n/a
Response TIN: *0000_0 (onboard inputs)
1TIN *0000_0000_0000_0000_0000_0000_0000_0000
1TIN.4: *1 (status of I/O point 4 on I/O brick 1)
See Also IN, [ IN ], INFNC, INLVL, TINO, TLIM
The TIN command returns the status (active or inactive) of the digital inputs on the DRIVE I/O connector and
the programmable inputs on external I/O bricks. The inputs are numbered 1 to n from left to right (n is the
maximum number of I/O points on the I/O brick— refer to page 8 for details.)
If the status of a specific input is required, use the bit select operator (.). For example, 1TIN.9 reports the
status of the 1st I/O point on the 2nd SIM of I/O brick 1.
TIN response for inputs on the DRIVE I/O connector (bits are numbered 1-5 from left to right):
be on Input #5)
TINbbbb_b
Input State Relationships (inputs on the DRIVE I/O connector):

Active Level Sinking/Sourcing * Switch IN/TIN/TIO Report
INLVL0 (active low) Sourcing Closed (connected to ground) 1
INLVL0 (active low) Sourcing Open 0
INLVL1 (active high) Sourcing Closed (connected to ground) 0
INLVL1 (active high) Sourcing Open 1
INLVL0 (active low) Sinking Closed (connected to +V) 0
INLVL0 (active low) Sinking Open 1
INLVL1 (active high) Sinking Closed (connected to +V) 1
INLVL1 (active high) Sinking Open 0
* The inputs are factory configured to source current. If you wish the inputs to sink current, connect the pull-up
terminals (pins 27 and 33) on the DRIVE I/O connector to ground (see the Hardware Installation Guide for wiring
instructions). Pin 27 is the pull up for limit inputs 1-3, and pin 33 is the pull up for general-purpose inputs 1-5.
Input State Relationships (external SIM8-IN-EVM32 inputs on an EVM32 I/O brick):

Active Level * Jumper Selection * Switch Voltage at Input LED IN/TIN/TIO Report
INLVL0 (active low) Position 3 (sourcing) Open ≥ 2/3 of V+ On 0
INLVL0 (active low) Position 3 (sourcing) Closed < 1/3 of V+ Off 1
INLVL1 (active high) Position 3 (sourcing) Open ≥ 2/3 of V+ On 1
INLVL1 (active high) Position 3 (sourcing) Closed < 1/3 of V+ Off 0
INLVL0 (active low) Position 1 (sinking) Open < 1/3 of V+ Off 1
INLVL0 (active low) Position 1 (sinking) Closed ≥ 2/3 of V+ On 0
INLVL1 (active high) Position 1 (sinking) Open < 1/3 of V+ Off 0
INLVL1 (active high) Position 1 (sinking) Closed ≥ 2/3 of V+ On 1
* Factory default: INLVL0 (active low) and jumper in position 3 (sourcing). Move jumper to position 1 for sinking.

TINO Transfer Other Input Status
Syntax <a_><!>TINO<.i> GT6K 6.0
Units (bit #6 = ENABLE input. 1 = OK for motion)
GV6K 6.0
Range n/a
Default n/a
Response TINO: *TINO0000_0100
TINO.6: *1 (status of input number 6 – ENABLE input)
See Also [ INO ], TINOF
The TINO command returns the status of the Enable input (bit #6). This bit is set (1) when the input is
grounded and motion is allowable. All other TINO status bits (1-5 and 7-8) are not used and are always
cleared (0). The Enable input is located at pin #1 on the DRIVE I/O connector.
TINO response (bits are numbered 1-8 from left to right):
*TINObbbb_bbbb
bit 6
ENABLE input (1 = OK for motion)

The TINO status command reports a binary bit report. If you would like to see a more
descriptive text-based report, use the TINOF command description.
TINOF Transfer Other Input Status (full-text report)

Syntax <a_><!>TINOF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TINOF: (see example below)
See Also [ INO ], TINO
The TINOF command returns a text-based status report. This is an alternative to the binary report (TINO).
Example response:
*TINOF
*Enable input OK YES
TIO Transfer Current Expansion I/O Status

Syntax <a_><!><@>TIO GT6K 6.0
GV6K 6.0
Range 1-8
Default n/a
Response (see example below)
See Also IN, KIOEN, TANO, TIN, TINO, TOUT, TANI
The TIO command displays the status of the current I/O configuration for the drive’s expansion I/O bricks.
If an I/O brick is not connected, it will not be included in the status report. Onboard I/O is not reported.
The I/O bricks are connected in series to the “EXPANSION I/O” connector (see the Hardware Installation
Guide for instructions). The 1st I/O brick in the series (closest to the Gem6K drive) is BRICK 1. The next is
BRICK 2, and so on.

Each I/O brick has 4 SIM slots and can hold from 1 to 4 I/O SIM modules. A SIM slot may hold a digital
input SIM, a digital output SIM, an analog input SIM, or an analog output SIM. Each SIM provides 8
inputs or outputs; therefore, each I/O brick has 32 I/O addresses, referenced as absolute I/O point locations:
The TIO response for each I/O brick is separated into four lines, one for each SIM. I/O points 1-8 represent
SIM #1, 9-16 represents SIM #2, 17-24 represents SIM #3, and 25-32 represents SIM #4. When digital
outputs are detected, the report also indicates the type (NPN outputs are SINKING, PNP outputs are
SOURCING). When digital inputs and digital or relay outputs are detected, TIO displays the present
hardware state and programmed function (INFNC for inputs and OUTFNC for outputs). When analog inputs
are detected, TIO reports the voltage present on each input. When analog outputs are detected, TIO reports
the voltage commanded on each output.
Example TIO responses (in this example, 2 I/O bricks are connected to the drive):
>TIO
25-32: ANALOG INPUTS 0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
>1TIO
25-32: ANALOG INPUTS 0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
>2TIO
TLABEL Transfer Labels

Syntax <a_><!>TLABEL GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TLABEL: *NO LABELS DEFINED
See Also $
The TLABEL command returns the names of all the labels defined with the $ command.
The response to a TLABEL command if the labels call and open are defined in a program named prog1 is
as follows: *CALL DEFINED IN PROGRAM PROG1
*OPEN DEFINED IN PROGRAM PROG1

TLIM Transfer Limits
Syntax <!><a>TLIM<.i> GT6K 6.0
Units i = limit input number
GV6K 6.0
Range System configuration dependant
Default n/a
Response TLIM: *TLIM110
TLIM.2: *0 (status of negative-direction limit)
See Also HOM, INDEB, INFNC, [ LIM ], LIMFNC, LIMLVL, TAS, TASF, TIN
The TLIM command returns the current hardware state of the limit inputs located on the “DRIVE I/O”
connector. This command reports the state of the limit inputs, regardless of their assigned function with the
LIMFNC command. There are 3 limit inputs. To determine if an end-of-travel limit has been hit, refer to the
TAS or TASF command response, bits 15 through 18.
This command does not report the status of onboard or external inputs configured as limit inputs with the
INFNC command. For status on such inputs, refer to the TIN command.
The TLIM value is the debounced version of the limits status (debounced with the ØINDEB value). Axis
status (TAS) bits 15 and 16 reports the non-debounced version of the end-of-travel limits.
TLIM response for limits on the DRIVE I/O connector (bits are numbered 1-3 from left to right):
*TLIMbbb
Input State Relationships:
Active Level Setting Required Switch Type * State LIM/TLIM Report

Active low (LIMLVL0) End-of-travel limit: N.C. Grounded — sinking current 1 (no limit hit)
This is the default setting. Home limit: N.O. (device driving the input is on)
Not Grounded — not sinking current 0 (FAULT: limit hit)
Active high (LIMLVL1) End-of-travel limit: N.O. Grounded — sinking current 0 (FAULT: limit hit)
Home limit: N.C. (device driving the input is on)
Not Grounded — not sinking current 1 (no limit hit)
* Compumotor recommends that all end-of-travel limit switches be normally-closed, because with normally-closed
limit switches the drive detects a limit fault condition (and stops or inhibits motion) when the switch contact is open
or if the wiring to the switch is broken.
TMEM Transfer Memory Usage

Syntax <a_><!>TMEM GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TMEM: *150000 OF 150000 BYTES (100%) PROGRAM MEMORY REMAINING
*1973 OF 1973 SEGMENTS (100%) COMPILED MEMORY REMAINING
See Also DEF, MEMORY, PCOMP, [ SEG ], TDIR, TSEG
The TMEM command returns the amount of available memory for storing programs and for storing compiled
profile path segments. A path segment is one element of a compiled profile path. The amount of memory
available can be modified with the MEMORY command. As programs are defined (DEF) and paths are
compiled (PCOMP), the amount of memory available decreases.

TMTEMP Transfer Motor Temperature
Syntax <a_><!>TMTEMP GT6K n/a
Units Degrees C
GV6K 6.0
Range n/a
Response TMTEMP: *TMTEMP45 servo axes)
See Also DMONAV, DMONBV, DMTRWC, DMTTCM, DMTTCW, TASX, TERRLG
The TMTEMP reports the predicted temperature of the motor winding for Parker motors. The temperature is
estimated using the winding and motor time constants, the rated continuous current, and the winding
thermal resistance. The motor will fault (reported with TASX bit 30) at an estimated winding temperature of
125°C, assuming the ambient temperature is 40°C.
If you are using a non-Parker motor, the TMTEMP value depends on parameters you supply for DMTRWC,
DMTTCM and DMTTCW.
TNMCY Transfer Master Cycle Number

Syntax <a_><!>TNMCY GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TNMCY *TNMCY0
See Also FMCLEN, FMCNEW, [ FS ], TRGFN, TFS
The TNMCY command displays the current master cycle number. The value represents the current cycle
number, not the position of the master (or the follower). The master cycle number is set to zero when
master cycle counting is restarted, and is incremented each time a master cycle finishes (i.e., rollover
occurs). It will often correspond to the number of complete parts in a production run. This value may be
used for subsequent decision making, or simply recording the cycle number corresponding to some other
event.
For a complete discussion of master cycles, please refer to the Following chapter in the Programmer's
Guide.
TNT Transfer Ethernet Status

Syntax <a_><!>TNT GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TNT: (see sample response below)
See Also NTADDR, NTFEN, TNTMAC
The TNT command reports the current Ethernet conditions (see sample response below).
*GEM6K ETHERNET STATUS

*Ethernet enabled: NTFEN2
*GEM6K IP address: 172.20.34.156
*GEM6K Network Mask: 255.255.255.0
*GEM6K Ethernet address: 0-144-85-0-0-1 (decimal)
*GEM6K Ethernet address: 0-90-55-0-0-1 (hex)
*GEM6K Ethernet connected

How to interpret the status report
• Ethernet enabled (NTFEN): NTFEN2 is recommended as the standard Ethernet communication mode,
even if you are using a closed network and no file sharing. NTFEN2 is especially helpful if you are using
Windows NT, or Windows 95/98 with File Sharing and/or an open network. NOTE: When using
NTFEN2, you must also follow the ARP -S Static Mapping procedure (refer to the instructions in the
Programmer’s Guide).
• GEM6K IP address:
This is the IP address that you specified (NTADDR command) in the configuration process (refer to the
Programmer’s Guide)
• GEM6K Network Mask:
This is the network mask that you specified (NTMASK command) in the configuration process.
• GEM6K Ethernet address:
This is the Ethernet “MAC” address that is given to the Gem6K unit at the factory.
• GEM6K Ethernet connected/not connected:
Ethernet is “Connected” if the Ethernet hardware connection is good and your PC is communicating
to the Gem6K over a valid Communication Server/Motion Planner connection.
Error Status: If the Ethernet connection fails, the Gem6K will set error status bit #22 (see ER, TER, and
TERF) if error-checking bit #22 is enabled with the ERROR command. Also, if this error occurs, the Gem6K
will branch to the ERRORP program.
TNTMAC Transfer Ethernet Address

Type Transfer; Communications Interface Product Rev
Syntax <a_><!>TNTMAC GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TMAC: *0,144,85,0,0,1
See Also NTADDR, NTFEN, NTMASK
The TNTMAC command reports the Gem6K’s Ethernet address.
TOUT Transfer Output Status

Syntax <a_><!><@>TOUT<.i> GT6K 6.0
Units i = input number on the specified I/O brick (B) — see page 8
GV6K 6.0
Range 1-32 (dependent on I/O brick and options installed)
Default n/a
Response TOUT: *0000_000 (onboard outputs)
1TOUT *0000_0000_0000_0000_0000_0000_0000_0000
1TOUT.4: *1 (status of I/O point 4 on I/O brick 1)
See Also OUT, OUTFNC, OUTLVL, TAS, TASX, TIN, TINO, TIO
The TOUT command returns the present status (active or inactive) of the outputs on the DRIVE I/O connector,
the dry contact relay output (labeled “RELAY COM” and “RELAY N.O.”) on the 4-pin removable connector,
and the programmable outputs on external I/O bricks. The outputs are numbered 1 to n from left to right (n
is the maximum number of I/O points on the I/O brick— refer to page 8 for details.)
If the status of a specific output is required, use the bit select operator (.). For example, 1TOUT.9 reports
the status of the 1st I/O point on the 2nd SIM of I/O brick 1.

TOUT response for the outputs on the DRIVE I/O connector and the relay (bits are numbered 1-7 from left to
right):
GT6K & GV6K:
*TOUTbbbb_bbb
Output # Pin # Default OUTFNC Function

bit 1
bit 7
Output State Relationships (outputs on the DRIVE I/O connector):

OUTLVL Setting OUT State * Current OUT/TOUT status
* The output is “active” when it is commanded by the OUT, OUTP, or POUT

command (for example, OUTxx1 activates output #3).
Output State Relationships (external outputs on an EVM32 I/O brick):

TPC Transfer Position Commanded

Syntax <a_><!>TPC GT6K 6.0
Units Reported value represents distance units (scalable by SCLD)
GV6K 6.0
Range Range of the reported value is ±2,147,483,648
Default n/a
Response TPC: *TPC+0
See Also DRES, ERES, [ PC ], [ PCC ], PSET, SCALE, SCLD, SMPER, TAS,
TFB, TPCC, TPER
Use the TPC command to display the commanded position. The TPC value is scaled by the distance scaling
factor (SCLD) if scaling is enabled with the SCALE1 command.
If you issue a PSET command, the commanded position value will be offset by the PSET command value.
GT6K: The reported value is measured in commanded counts (“motor counts”).
GV6K: The reported TPC value is measured in feedback device counts (resolution set with ERES). The
commanded position (TPC) and the actual position (TPE) are used in the position error calculation
(TPC - TPE = TPER).

Example (GV6K only):
TPC ; Display the commanded position. Example is *TPC4000 (setpoint
; displayed in counts)
TPE ; Display the actual position. Example is *TPE4004 (actual
; position displayed in counts)
TPER ; Display position error. Example is *TPER-4 (error displayed
; in counts)
TPCC Transfer Captured Commanded Position

Syntax <a_><!>TPCCc GT6K 6.0
Units c = trigger input letter (A, B or M)
GV6K 6.0
(Reported value is commanded counts, scalable by SCLD)
Range n/a
Default n/a
Response TPCCA: *TPCCA+0
See Also ENCCNT, INFNC, [ PC ], [ PCC ], [ PCMS ], PSET, SCALE, SCLD,
SFB, TFB, TPC, [ TRIG ], TRGLOT, TTRIG
Use the TPCC command to display the current captured commanded position, captured with the specific
“trigger interrupt” input—A, B, or M.
be on Input #5)
About Position Capture: The commanded position can be captured only by an input that is defined as a
“trigger interrupt” input with the INFNCi-H command (see INFNC for details). When a “trigger interrupt”
input is activated, the commanded position is captured and the position is available through the use of the
PCC operator and the TPCC display command.
GT6K: By default, the GT6K captures only the commanded position. However, if the drive has Encoder
Capture Mode enabled with the ENCCNT command, only the encoder position is captured.
(e.g., in an IF statement). Once the captured commanded position value is displayed with the TPCC
command, the TTRIG/TRIG status bit for that trigger input is cleared; but the position information remains
Position Capture Accuracy: The commanded position capture accuracy is ±1 count.
Scaling and Position Offset: If scaling is enabled (SCALE1), the commanded position is scaled by the
distance scaling factor (SCLD). If scaling is not enabled (SCALEØ), the value reported will be actual
commanded counts. If you issue a PSET (establish absolute position reference) command, any previously
captured commanded positions will be offset by the PSET command value.
Example:
TPCCA ; Report the captured command position, which was captured
; when trigger A (TRG-A) was activated
TPCCB ; Report captured command position, which was captured
; when trigger B (TRG-B) was activated
TPCCM ; Report captured command position, which was captured
; when the master trigger (TRG-M) was activated

TPCE Transfer Position of Captured Encoder
Syntax <a_><!>TPCEc GT6K 6.0
GV6K 6.0
(Reported value represents encoder counts, scalable by SCLD)
Range n/a
Default n/a
Response TPCEA: *TPCEA+0
See Also ENCCNT, INFNC, [ PCE ], PESET, PSET, SCALE, SCLD, SFB, TPE
Use the TPCE command to display the current captured encoder position, from the time of the last trigger
interrupt.
be on Input #5)
About Position Capture: The encoder position can be captured only by an input that is defined as a
input is activated, the encoder position is captured and the position is available through the use of the PCE
operator and the TPCE display command.
GT6K: By default, the GT6K captures only the commanded position. To capture the encoder position, the
axis must be in the Encoder Capture Mode (see ENCCNT command).
(e.g., in an IF statement). Once the captured encoder position value is reported with the TPCE command,
the TTRIG/TRIG status bit for that trigger input is cleared; but the position information remains available
until it is overwritten by a subsequent position capture from the same trigger input.
Position Capture Accuracy: The encoder position capture accuracy is ±1 encoder count.
Scaling and Position Offset: If scaling is enabled (SCALE1), the encoder position is scaled by the distance
scaling factor (SCLD). If scaling is not enabled (SCALEØ), the value reported will be actual encoder counts.
If you issue a PSET (establish absolute position reference) command, any previously captured encoder
positions will be offset by the PSET command value.
Example:
TPCEA ; Report captured encoder position, which was captured
; when trigger A (TRG-A) was activated
TPCEB ; Report captured encoder position, which was captured
; when trigger B (TRG-B) was activated
TPCEM ; Report captured encoder position, which was captured
; when the master trigger (TRG-M) was activated

TPCME Transfer Captured Master Encoder Position
Syntax <a_><!>TPCME GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TPCME *TPCME+0
See Also INFNC, MEPOL, MESND, [ PME ], [ PCME ], [ PCMS ], PMECLR,
PMESET, TPME, TPCMS
Use the TPCME command to display the current captured master encoder position. The master encoder is
connected to the connector labeled “Master Encoder.”
Syntax: VARn=PCME where n is the variable number; or PCME can be used in an expression such as
IF(PCME>2345Ø).
About Position Capture: The master encoder position can be captured only by the Master Trigger input
(input #5), and only when that input is defined as a “trigger interrupt” input with the INFNC5-H command
(see INFNC command). When the “trigger interrupt” input is activated (active edge), the master encoder
position is captured and the position is available through the use of the PCME operator and the TPCME
display command.
(e.g., in an IF statement). Once the captured master encoder position value is displayed with the TPCME
command, TTRIG/TRIG status bit #5 is cleared; but the position information remains available until it is
overwritten by a subsequent position capture from the master trigger input.
Position Capture Accuracy: The master encoder position capture accuracy is ±1 encoder count.
Scaling and Position Offset: The TPCME value is always in master encoder counts; it is never scaled. If
you issue a PMESET (establish absolute position reference) command, any previously captured master
encoder positions will be offset by the PMESET command value.
TPCMS Transfer Captured Master Cycle Position

Syntax <a_><!>TPCMSc GT6K 6.0
GV6K 6.0
(Reported value represents master counts, scalable by SCLMAS)
Range n/a
Default n/a
Response TPCMSA *TPCMSA+0
See Also ENCCNT, FOLMAS, INFNC, [ PCMS ], PSET, SCALE, SCLMAS, SFB,
TPCME, [ TRIG ], TRGLOT, TTRIG
The TPCMS command transfers the captured position of the master within its current master cycle.
TPCMS (and TPMAS) is unique among position transfers, because its value rolls over to zero each time the
entire master cycle length (FMCLEN) has been traveled. Thus, the captured TPCMS value is essentially a
snap-shot of the position relative to the master cycle at the time of the capture.
For a complete discussion of master cycles, refer to the Following chapter in the Programmer’s Guide.

be on Input #5)
About Position Capture: The master cycle position can be captured only by a trigger input that is defined as
input is activated, the master cycle position of the dedicated axis is captured and the position is available
through the use of the PCMS operator and the TPCMS display command.
(e.g., in an IF statement). Once the captured master cycle position value is reported with the TPCMS
command, the TTRIG/TRIG status bit for that trigger input is cleared; but the position information remains
Position Capture Accuracy: The master cycle position is interpolated; the capture accuracy is 50 µs
multiplied by the velocity of the axis at the time the trigger input was activated.
Scaling and Position Offset: If scaling is enabled (SCALE1), the master cycle position is scaled by the
distance scaling factor (SCLMAS). If scaling is not enabled (SCALEØ), the value assigned will be actual
counts from the commanded or encoder master source as selected with the FOLMAS command. If you issue
a PSET (establish absolute position reference) command, any previously captured master cycle positions
will be offset by the PSET command value.
TPE Transfer Position of Encoder/Resolver

Syntax <a_><!>TPE GT6K 6.0
Units Encoder or resolver counts, or scaled by SCLD
GV6K 6.0
Range n/a
Default n/a
Response TPE: *TPE+0
See Also ENCCNT, ERES, [ FB ], [ PE ], PESET, PSET, SCALE, SCLD, SFB,
TFB, TPC, TPER
GV6K: The TPE command reports the present feedback device position, based on the encoder/resolver
resolution (ERES).
GT6K: If the ENCCNT1 mode is enabled TPE reports the encoder position, but in ENCCNT0 mode (the factory
default setting) the TPE report represents the commanded position.
UNITS OF MEASURE and SCALING: refer to page 16 or to the SCLD command.
If you issue a PSET command, the encoder position value will be offset by the PSET command value. If you
are using a stepper axis in the ENCCNT1 mode, use the PESET command instead.
The position error calculation is: TPER = TPC – TPE.

TPER Transfer Position Error
Type Transfers Product Rev
Syntax <a_><!>TPER GT6K n/a
Units Reported value represents distance units (scalable by SCLD)
GV6K 6.0
Range Range of the reported value is ±2,147,483,648
Response TPER: *TPER+0 servo axes)
See Also ENCCNT, DMODE, DMONAV, DMONBV, DRES, ERES, [ FB ], [ PC ],
[ PE ], [ PER ], SFB, SMPER, TANI, TAS, TFB, TPE, TPC
The TPER command reports the present position error. The error is reported in feedback device counts and
is based on the encoder/resolver resolution (ERES). It is scaled by the distance scaling factor (SCLD), if
scaling is enabled with the SCALE1 command.
The position error is the difference between the commanded position and the actual position read by the
feedback device. (TPER = TPC - TPE).
The position error is calculated every sample period.
Example:
TPC ; Display the commanded position. Example is: *TPC4000
TPE ; Display the actual position. Example is: *TPE4004
TPER ; Display position error. Example is: *TPER-4
TPMAS Transfer Current Master Cycle Position

Syntax <a_><!>TPMAS GT6K 6.0
Units Reported value represents master counts, scalable by SCLMAS.
GV6K 6.0
Range n/a
Default n/a
Response TPMAS *TPMAS0
See Also FMCLEN, FMCNEW, FMCP, FOLMAS, FOLMD, [ FS ], MEPOL, [ NMCY ],
[ PMAS ], SCALE, SCLMAS, TFS
The TPMAS command transfers the current position of the master within its current master cycle. The
master must be assigned first (FOLMAS command) before this command will be useful.
TPMAS is unique among position transfers, because master cycle position rolls over to zero each time the
entire master cycle length (FMCLEN value) has been traveled.
If scaling is enabled (SCALE1), the value returned is scaled by the master scaling factor (SCLMAS). If
scaling is disabled (SCALEØ), the value returned is in master counts (encoder/resolver counts, commanded
counts, or analog input counts).
For a complete discussion of master cycles, refer to the Following chapter in the Programmer's Guide.
TPME Transfer Position of Master Encoder

Syntax <a_><!>TPME GT6K 6.0
Units Reported value represents master encoder counts.
GV6K 6.0
Range n/a
Default n/a
Response TPME *TPME+0
See Also MEPOL, MESND, [ PCME ], [ PE ], [ PME ], PMECLR, PMESET, TPCME
Use the TPME command to display the current master encoder position. The master encoder is connected to
the connector labeled “Master Encoder”. If you issue a PMESET command, the master encoder position
value will be offset by the PMESET command value. The TPME value is always in encoder counts, it is never
scaled.

TPRA Transfer Absolute Resolver Position
Syntax <a_><!>TPRA GT6K n/a
Units counts
GV6K 6.0
Range 0 – (ERES-1)
Response TPRA: *TPRA145 servo axes)
See Also ERES, SFB
TPRA returns the actual resolver reading. For resolver drives, the command will be valid even if encoder
feedback has been selected with the SFB command. For servo drives without resolver feedback, this
command will always return 0.
TPROG Transfer Program Contents

Syntax <a_><!>TPROG<t> GT6K 6.0
GV6K 6.0
Default n/a
Response n/a
See Also DEF, TDIR, TMEM
The TPROG command displays the contents of the program specified. If there is no such program, the drive
responds with the error message: *INVALID DATA. To see which programs have been created, use the TDIR
command.
TPSHF Transfer Net Position Shift

Syntax <a_><!>TPSHF GT6K 6.0
Units (Reported value represents commanded counts, scalable by SCLD)
GV6K 6.0
Range n/a
Default n/a
Response TPSHF *TPSHF+0
See Also FMCNEW, FMCP, FOLEN, FSHFC, FSHFD, [ PSHF ], SCALE, SCLD
The TPSHF command transfers the net (absolute) follower axis position shift that has occurred since that
last FOLEN1 command. The position returned will be the sum of all shifts performed on that axis, including
decelerations due to limits, kill, or stop. The shift value is set to zero each time a new FOLEN1 command or
a FOLMAS command (with a value other than zero) is issued.
If scaling is enabled (SCALE1), the PSHF value is scaled by the distance scaling factor (SCLD). If scaling is

TPSLV Transfer Current Commanded Position of Follower Axis
Syntax <a_><!>TPSLV GT6K 6.0
Units (Reported value represents commanded counts, scalable by SCLD)
GV6K 6.0
Range n/a
Default n/a
Response TPSLV *TPSLV+0
See Also FMCNEW, FMCP, [ PSLV ], SCALE, SCLD
The TPSLV command transfers the current commanded position of the follower axis. The master must be
assigned first (FOLMAS command) before this command will be useful.
If scaling is enabled (SCALE1), the PSLV value is scaled by the distance scaling factor (SCLD). If scaling is
TRACE Program Trace Mode Enable

Syntax <a_><!>TRACE GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response TRACE: *TRACE0
See Also [, ], [ # ], PORT, [ SS ], STEP, TRACEP, TRANS, TSS
The TRACE command enables program trace mode. When in program trace mode, all commands executed
are transferred out the Ethernet, RS-232 or RS-485 port, and the program from which the command came is
identified.
Example:
DEL prog1 ; Delete program prog1
DEF prog1 ; Begin definition of program prog1
L ; Begin loop
IF(IN.3=b1) ; If input #3 is activated ...
JUMP prog2 ; Jump to program prog2
ELSE ; If input #3 is not activated, continue with loop
MC0 ; Select preset positioning mode
NIF
LN ; End loop
DEL prog2 ; Delete program prog2

DEF prog2 ; Begin definition of prog2
K1 ; Kill motion only
TERRLG ; Display the error log
TRACE1 ; Enable trace mode

RUN prog1 ; Run program prog1
After enabling the trace mode, executing RUN prog1 places the following information in the output buffer: (assume input #3 is not
activated)
*L
*IF(IN.3=b1)
*ELSE
*MC0
*MA0
*A45
(continues)

TRACEP Program Flow Mode Enable
Syntax <a_><!>TRACEP GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response TRACEP: *TRACEP0
See Also TRACE
The TRACEP command provides a debug tool to monitor the entry and exit of programs and their associated
nest-levels.
Example:
DEF PICK1
GOSUB PICK2
GOTO PICK3
END
DEF PICK2
GOSUB PICK4
END
DEF PICK3
END
DEF PICK 4
END
>TRACEP1
>PICK1
*INITIATE PROGRAM: PICK1 NEST=1
*END: PROGRAM NOW: PICK2 NEST=2
*END: PROGRAM NOW: PICK1 NEST=1
*END: PROGRAM EXECUTION TERMINATED
TRANS Translation Mode Enable

Syntax <a_><!>TRANS GT6K 6.0
Units n/a
GV6K 6.0
Default 0
Response TRANS: *TRANS0
See Also [ # ], [ SS ], STEP, TSS
The TRANS command enables the program translation mode, in which all commands processed by the
Gem6K drive are echoed back in their binary format (hex representation of the binary equivalent), and are
not executed. The first byte (first two characters) of the response represents the command's memory
requirement. The remaining bytes represent the actual command.
Example:
TRANS1 ; Enable translation mode
A10 ; Translate acceleration command A10. Response displayed
; is: 07 01 00 00 01 86 A0. Note that 07 hex represents a command
; memory requirement of 19 bytes.
GO1 ; Translate initiate motion command GO1. Response displayed
; is: 04 07 03 01. Note that 04 hex represents a

; command memory requirement of 4 bytes.
TREV Transfer Revision Level

Syntax <a_><!>TREV GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TREV: *TREV92-016740-01-5.3.25 GEM6K GV6K-L3E D0.11 F1.3
(response varies by product)
See Also RESET, RFS
The Transfer Revision Level (TREV) command reports the following information:
• 6K operating system part number
• 6K operating system revision number
• Drive type
• Drive power level
• Feedback device (for GV6K only)
• Drive operating system
• Flash boot revision (for hardware identification only)
Example Response:
*TREV92-016740-01-5.3.25 GEM6K GV6K-L3E D0.11 F1.3
6K OS Part Number
6K OS Revision Number
Drive Type & Power Level:

GT6K Power Levels:
• L5
• L8
GV6K Power Levels:
• U3
• U6
• U12
• L3
• H20
• H40
Feedback Device:
• E = Encoder
• R = Resolver
Drive OS Revision:
This is the revision level
referred to in the Product/Rev
field in each command
description.
Flash Boot Revision

To update your drive operating system: The operating system file is located in the software download
section of the Compumotor Online web site (http://www.compumotor.com). Download the file to your hard
drive and follow the relevant download procedure:
• Motion Planner users: refer to page 6.
• Communications Server (COM6SRVR.EXE) users: use the SendOS method described on page 6.
TRGFN Trigger Functions

Type Inputs; Following; Motion Product Rev
Syntax <a_><!>TRGFNcbb GT6K 6.0
Units c = trigger input letter
GV6K 6.0
1st b = bit to select Conditional GO (GOWHEN) function
2nd b = bit to select Start New Master Cycle (FMCNEW) function
Range c = A, B, or M (M is master trigger, “TRG-M”)
b = 0 (disable function), 1 (enable function),
or X (leave unchanged)
Default c = A; b = 0
Response TRGFN *TRGFNA00
See Also [ AS ], ERROR, ERRORP, FMCNEW, GOWHEN, INFNC, [ SS ], TAS,
TRGLOT, TSS, [ TRIG ], TTRIG
Use the TRGFN command to assign certain command functions to the trigger inputs on the DRIVE I/O
connector:
be on Input #5)
NOTE
The input used in this command must first be defined as a Trigger Interrupt input with the
INFNCi-H command.
• “Conditional GO” Function (TRGFNc1x): Suspend execution of the next start-motion command until
the specified trigger input goes active. Start-motion commands are:
- GO (standard command to begin motion)
- FGADV (begin geared advance – for Following motion)
- FSHFC (begin continuous shift – for Following motion)
- FSHFD (begin preset shift – for Following motion)
Axis status bit #26 (reported with TASF, TAS, or AS) is set to one (1) when there is a pending
“Conditional GO” condition initiated by a TRGFN command; this bit is cleared when the trigger is
activated or when a stop command (S) or a kill command (K) is issued. If you need execution to be
triggered by other factors (e.g., input state, master position, encoder position, etc.) use the GOWHEN
command.
• “New Master Cycle” Function (TRGFNcx1): This is equivalent to executing the FMCNEW command.
When the specified trigger input goes active, the drive begins a new Following master cycle. For
more information on master cycles, refer to the Following chapter in the Programmer’s Guide.
These trigger functions are cleared once the function is complete. To use the trigger to perform another
conditional Go or begin a new master cycle, the TRGFN command must be given again.
TRGFN in Compiled Motion: When used in a compiled program, a TRGFNc1x (conditional GO function)
command will pause the profile in progress (motion continues at constant velocity) until the trigger is

activated to execute the next move profile. When used in a compiled profile, the TRGFN command
consumes one segment of compiled memory. When used in a compiled Following profile, the TRGFN
command is ignored on the reverse Following profile (i.e., when the master is moving in the opposite
direction of that specified in the FOLMAS command).
Trigger Interrupt Status: The status of a trigger interrupt event is reported with the TTRIG and TRIG
commands.
Example: (refer also to the FOLEN examples)

TRGFNBx1 ; When trigger B goes active, a new master cycle will begin
TRGFNB1x ; When trigger B goes active, execute the move
; commanded with the GO command.
GO1 ; The move is commanded, but will not execute until
; trigger B goes active.
TRGLOT Trigger Interrupt Lockout Time

Syntax <a_><!>TRGLOT GT6K 6.0
Units i = time in milliseconds
GV6K 6.0
Range 0-250
Default 24
Response TRGLOT: *TRGLOT24
See Also INDEB, INFNC, RE, REG, TIN, TRGFN, [ TRIG ], TTRIG
The TRGLOT command configures the amount of time in which a “trigger interrupt” input (all inputs
configured with the INFNCi-H command) is disabled between its initial active transition and its secondary
active transition. This allows rapid recognition of a trigger interrupt input, but prevents subsequent
bouncing of the input from causing a false position capture, registration move, or TRGFN event. The lockout
time affects only those inputs configured as H (trigger interrupt) with the INFNCi-H command during those
interrupt actions (registration, position capture, etc.).
The TRGLOT setting overrides the existing INDEB setting for only the inputs that are assigned the “Trigger
Interrupt” function with the INFNCi-H command (see INFNC for details).
Example:
INFNC1-H ; Assign input #1 as a "trigger interrupt" input
TRGLOT40 ; Set lockout time for all "trigger interrupt" inputs
; to be 40 milliseconds
[ TRIG ] Trigger Interrupt Status

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also INFNC, [ PCC ], [ PCE ], [ PCME ], [ PCMS ], TAS, TPCC, TPCE,
TPCME, TPCMS, TRGFN, TRGLOT, TTRIG
Use the TRIG operator to assign the Trigger Interrupt status bits to a binary variable (VARB), or to make a
comparison against a binary or hexadecimal value. To make a comparison against a binary value, the letter
b (b or B) must be placed in front of the value. The binary value itself must only contain ones, zeros, or Xs
(1, Ø, X, x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in
front of the value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø
through 9.

Syntax: VARBn=TRIG where “n” is the binary variable number, or TRIG can be used in an expression
such as IF(TRIG=b11Ø1), or IF(TRIG=h7F)
Each Trigger Interrupt status bit indicates whether a “trigger interrupt” input has been activated to capture a
position, initiate a registration move, or execute a TRGFN function. “Trigger Interrupt” inputs are onboard
inputs that have been assigned the trigger interrupt function with the INFNCi-H command.
Each TTRIG bit is cleared when the captured position value is read with the PCC, PCE, PCME, PCMS, TPCC,
TPCE, TPCME, or TPCMS commands, but the position information is still available from the respective
register until it is overwritten by a subsequent position capture by the same trigger input.
The function of each status bit is shown in the table below (bits are numbered from left to right). A bit that
is set (“1”) indicates the trigger interrupt has occurred, a “0” indicates no trigger interrupt.
TRIG bit assignments for inputs on the DRIVE I/O connector (bits are numbered 1-5 from left to right):
be on Input #5)
TRIGbbbb_b
TSC Transfer Controller Status

Syntax <a_><!>TSC<.i> GT6K 6.0
Units i = drive status bit number
GV6K 6.0
Range 1-32
Default n/a
Response TSC: *TSC0000_0000_0000_0000_0000_0000_0000_0000
TSC.1: *0
See Also [ SC ], SCANP, TSCF
The TSC command provides a binary report of the current “Controller Status” register. If you would like a
more descriptive text-based report, use the TSCF command.
*TSCbbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb
Bit 1 Bit 32
1 RESERVED
2 RESERVED
3 A PLC program is being executed in Scan Mode (SCANP).
4-32 RESERVED

TSCF Transfer Controller Status (full-text report)
Syntax <a_><!>TSCF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TSCF: (see example below)
See Also [ SC ], SCANP, TSC
The TSCF command provides a full-text report of the current “Controller Status” register. This is an
alternative to the binary report (TSC).
Example TSCF response:
*TSCF
*Reserved NO Reserved NO
*SCANP Running NO Reserved NO
*
*
*
TSCAN Transfer Scan Time of PLCP Program

Type Transfer; PLC Scan Program Product Rev
Syntax <a_><!>TSCAN GT6K 6.0
Units Response is in increments of 2 milliseconds
GV6K 6.0
Range 2 ms - unlimited
Default n/a
Response TSCAN *TSCAN4 (4 ms corresponds to 2 system updates)
See Also EXE, PLCP, SCANP
The TSCAN command reports the duration it takes the last PLCP program to be scanned completely. A
compiled PLCP program is launched into Scan mode using the SCANP command. During each 2 ms system
update, the PLCP program is scanned an allotted 0.5 ms window. If the PLCP program requires more than
0.5 ms to be scanned, the program will be paused and then resumed at the next system update. The value
reported by the TSCAN command is in multiples of the 2 ms system update period.
Example:
SCANP PLCP1 ; Start execution of compiled PLCP program PLCP1 in Scan mode
TSCAN ; Report the duration of the scan program in multiples of the
; 2 millisecond system update period. An example response might
; be *TSCAN4 (indicates that 2 system update periods, a total of
; 4 milliseconds was required to scan the last PLCP program).

TSEG Transfer Number of Free Segment Buffers
Type Compiled Motion; Transfer Product Rev
Syntax <a_><!>TSEG GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TSEG: *TSEG258
See Also MEMORY, TDIR, TMEM, [SEG], [SS], TSS, TSSF
The TSEG command returns the number of free segment buffers in compiled memory.
System status bit (see TSSF, TSS, and SS) 29 is set when the compiled memory is 75% full, and bit 30 is set
if the compiled memory is 100% full.
TSGSET Transfer Servo Gain Set

Syntax <a_><!>TSGSETi GT6K n/a
Units i = gain set identification number (see SGSET command)
GV6K 6.0
Range 1-3
Response (reports all gains in the specified set) servo axes)
See Also SFB, SGAF, SGENB, SGSET, SGVF, TGAIN
This command allows you to display any of the 3 gain sets that you saved with the SGSET command. Up to
3 gain sets can be saved with the SGSET command. Each gain set contains these gain parameters:
NOTE: To report the present gain values in effect, use the TGAIN command.
TSKAX Task Axis

Syntax i%TSKAX<a> GT6K 6.0
Units i = task number
GV6K 6.0
a = 0 or 1
Range For i: 0-10
For <a>:1 or 0
Default a = 1
Response TSKAX: *TSKAX1
See Also %, TTASK, [ TASK ], TSWAP, [ SWAP ], TSKTRN
The Task Axis command (TSKAX) allows you to specify whether or not a task is associated with motion.
The default condition in multi-tasking (TSKAX1) is that each task is associated with motion. This means, for
example, that when the load hits an end-of travel limit, program execution will be killed within that task,
and in all other tasks associated with motion.

Use the TSKAX0 command to eliminate altogether a task’s association with motion. This would be
appropriate for a task that is not involved in motion control, but may control I/O or start other tasks.
Example:
DEF main ; Begin definition of program called "main"
1%TSKAX1 ; Associate Task1 with motion
2%TSKAX0 ; Make Task2 independent of motion
1%move1 ; Execute stored program "move1" in Task1
2%inout ; Execute stored program "inout" in Task2
END
TSKTRN Task Turns Before Swapping

Syntax i1%TSKTRNi2 GT6K 6.0
Units i1 = task number
GV6K 6.0
i2 = number of turns before task swap
Range i1 = 0-10
i2 = 0-10,000
Default i1 = 0
i2 = 1
Response TSKTRN: *TSKTRN1
See Also %, LOCK, TTASK, [ TASK ], TSWAP, [ SWAP ], TSKAX
Use the TSKTRN command to set the relative amount of processing time a task will get. Under default
multi-tasking operation, all active tasks have an equal share of processing time; that is, each task executes
one “turn” and then “swaps” control to the next active task. (A “turn” is the execution of a command, or a
portion of a complex command such as those for math and trig operators.)
For example, if Task2 issued a TSKTRN6 command, while the other tasks stayed at TSKTRN1, Task2 would
execute 6 commands (or portions of long commands) before relinquishing control to another task.
The TSKTRN value for a task may be changed at any time, allowing a task to increase its weight for an
isolated section of program commands.
TSROFF Transfer Resolver Offset Angle

Syntax <a_><!>TSROFF GT6K n/a
Units angle offset, in degrees
GV6K 6.0
Range -180.0 to +180.0
Response TSROFF: *TSROFF-90.0 servo axes)
See Also DMODE, SRSET
Use the TSROFF command to ascertain the actual resolver offset angle. SRSET sets the resolver offset angle.
When a non-zero value is specified for SRSET, it becomes the new offset angle. When no value is specified,
and the drive is in DMODE11 (feedback alignment mode), then a routine is executed to automatically set the
resolver angle.

TSS Transfer System Status
Syntax <a_><!><%>TSS<.i> GT6K 6.0
Units i = system status bit number
GV6K 6.0
Range 1-32
Default n/a
Response TSS: *TSS1000_1000_0000_0000_0000_0000_0000_0000
TSS.1: *1 (status of Task 0 status bit #1—system is ready)
See Also PORT, TAS, TCMDER, TRGFN, TSSF, TSTAT, [ TRIG ], TTRIG
The TSS command provides information on the 32 system status bits. The TSS status command reports a
binary bit report. If you would like to see a more descriptive text-based report, use the TSSF command
description.
Response for TSS (b can equal Ø, 1, X, or x): *TSSbbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb

^ ^
Bit #1 Bit #32
MULTI-TASKING
If you are using multi-tasking, be aware that each task has its own system status register.
Therefore, to check a specific task’s system status, you must prefix the TSS command
with the task identifier (e.g., 2%TSS to check system status for Task 2). If no task identifier
is given, the TSS response is for the task supervisor (Task 0).
BIT (Left to Right) Function (1 = yes, Ø = no) BIT (Left to Right) Function (1 = yes, Ø = no)
1 System Ready (powered up and 17 Loading Thumbwheel Data ([TW])

ready to receive commands)
2 Reserved 18 External Program Select Mode is enabled
(INSELP1)
3 Executing a Program (see EXE) 19 Dwell in Progress (T command)
4 Immediate Command (set if last 20 Waiting for RP240 Data—[DREAD] or
command was immediate) [DREADF]
5 In ASCII Mode 21 RP240 Connected— current PORT setting

only
6 In Echo Mode (ECHO1)— current 22 Non-volatile Memory Error
PORT setting only
7 Defining a Program 23 GV6K: Servo data gathering transmission in
progress;
GT6K: Reserved
8 In Trace Mode (TRACE1) 24 Suspended on Swap (see LOCK command)
9 In Step Mode (STEP1) 25 Reserved

10 In Translation Mode (must use fast 26 Suspended on COM1 (see LOCK command)
status area to see)
11 Command Error Occurred (bit is 27 Suspended on COM2 (see LOCK command)
cleared when TCMDER is issued)
12 Break Point Active (BP) 28 Program Pending (see EXE command)
13 Pause is Active (PS command or 29 Compiled memory is 75% full

pause input, INFNCi-E)
14 Wait is in progress (WAIT) 30 Compiled memory is 100% full
15 Monitoring On Condition (ONCOND) 31 * Compile operation failed (PCOMP)
16 Waiting for Data (READ) 32 EXE Failed (see EXE command)

* Bit #31: failed PCOMP compile is cleared on power up, RESET, or after successful compile. Possible causes include:
• Errors in profile design (e.g., change direction while at non-zero velocity; distance & velocity equate to < 1 count
per system update; preset move profile ends in non-zero velocity)
• Profile will cause a Following error (see TFSF, TFS, or FS command descriptions)
• Out of memory (see TSS bit #30)
• Axis already in motion at the time of the PCOMP command
• Loop programming errors (e.g., no matching PLOOP or PLN; more than 4 embedded PLOOP/PLN loops)
• PLCP program contains invalid commands.
TSSF Transfer System Status (full-text report)

Syntax <a_><!><%>TSSF GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TSSF: (see example below)
See Also PORT, [ SS ], TAS, TCMDER, TRGFN, TSS, TSTAT
The TSSF command returns a text-based status report. This is an alternative to the binary report (TSS).
MULTI-TASKING
If you are using multi-tasking, be aware that each task has its own system status register.
Therefore, to check a specific task’s system status, you must prefix the TSSF command
with the task identifier (e.g., 2%TSSF to check system status for Task 2). If no task
identifier is given, the TSSF response is for the task supervisor (Task 0).
Example TSSF response:

*TSSF
*System Ready YES Thumbwhl Data Load NO
*RESERVED NO Ext Prog Sel Mode NO
*Program Executing NO Time Command NO
*Immediate Comm Last NO Waiting RP240 Data NO
*
*ASCII Mode YES RP240 Connected NO
*Echo Mode YES Memory Error NO
*Defining a Program NO Servo Data Transfer NO (RESERVED for GT6K)
*Trace Mode NO Suspended on Swap NO
*
*Step Mode NO RESERVED NO
*FS Translate Mode NO Suspended on COM1 NO
*Command Error NO Suspended on COM2 NO
*Break Point Active NO Program Pending NO
*
*Pause Active NO Comp Mem Near Full NO
*Wait Active NO Compiled Mem Full NO
*Checking On Conds NO Compile Error NO
*Waiting for Data NO EXE Failed NO

TSTAT Transfer Statistics
Syntax <a_><!>TSTAT GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TSTAT: (See below)
See Also NTADDR, TAS, TDIR, TER, TFB, TIN, TIO, TOUT, TPC, TPE, TREV,
TSWAP, TSS, TTIM, TUS, TVEL
The following is an example (NOTE: The response for each Gem6K Series product will vary slightly.):
*GEM6K Revision: 92-XXXXXX-01-5.3 GEM6K GV6K-U6E D0.11 F1.62
*Ethernet address: xxxxxxxxxx; IP address: 192.168.10.30
*Power-up program assignment (STARTP):
*ENABLE input OK: Yes
*Drive status (DRIVE): 0
*Encoder resolution (ERES): 4000
*Hard Limit enable: LH3
*Soft Limit enable: LS0
*Current Motion Attributes:
* Scaling enabled (SCALE1): 0
* Acceleration scaler (SCLA): 4000
* Distance scaler: 1
* Velocity scaler: 4000
* Commanded position (TPC): +0
* A10.0000
* AA10.0000
* AD10.0000
* ADA10.0000
* V1.0000
* D+4000
*I/O Status:
* Onboard limit inputs:
* Hardware state (TLIM): 110
* Expansion I/O bricks: See TIO response
*Axis Status (see TASF for full text report):
* Axis 1 (1TAS): 0010_0000_0000_1000_0000_0001_0000_0000
*System Status (This is Task 0 if using multi-tasking):
*5 Programs Defined; Scale Enable 0
*System Status: 1000_1100_0000_0000_0000_0100_0000_0000
TSTLT Transfer Settling Time

Syntax <a_><!>TSTLT GT6K n/a
Units Reported value represents milliseconds
GV6K 6.0
Range n/a
Response TSTLT: *TSTLT502 servo axes)
See Also STRGTD, STRGTE, STRGTT, STRGTV
TSTLT allows you to display the actual time it took the last move to settle into the target zone (that is,
within the distance zone defined by STRGTD and less than or equal to the velocity defined by STRGTV). The
reported value represents milliseconds. This command is usable whether or not the Target Zone
Settling Mode is enabled with the STRGTE command.

TSWAP Transfer Current Active Tasks
Syntax <!>TSWAP GT6K 6.0
Units n/a
GV6K 6.0
Range Binary response status of tasks (0 = inactive, 1 = active).
10-bit pattern represents tasks 1-10 from left to right.
Default n/a
Response TSWAP: *TSWAP1001_0000_00 (tasks 1 and 4 are active)
TSWAP.3: *0 (task 3 is inactive)
See Also %, [ SS ], [ TASK ],, TSS
The TSWAP command reports a binary bit pattern indicating the tasks that are currently active. Note that
TSWAP only indicates if a task is active; to ascertain exactly what activity the task has at a given time, use
the system status (SS or TSS commands).
TSWAP’s binary 10-bit pattern represents tasks 1-10, from left to right. A “1” indicates that the task is
active, and a “0” indicates that the task is inactive. To check the status of only one task, you may use the bit
select (.) operator. For example, TSWAP.3 checks the status of Task 3 only.
The “Task Supervisor”, represented by task Ø, is always active and is therefore not included in the SWAP
and TSWAP status.
TTASK Transfer Task Number

Syntax <!>TTASK GT6K 6.0
Units Reported value is the number of the controlling task.
GV6K 6.0
Range 0-10
Default n/a
Response TTASK: *TTASK2 (Task 2 executed the TTASK command)
See Also %, [ TASK ]
Use the TTASK command to the display the task number of the task which executed the command. This
could be used for diagnostic purposes, as a way to indicate which task is executing a given section of
program.
TTIM Transfer Timer

Syntax <a_><!><%>TTIM GT6K 6.0
Units Reported value represents milliseconds
GV6K 6.0
Range Maximum count is 999,999,999 (approx. 11 days, 13 hours)
Default n/a
Response TTIM: *TTIM64000
See Also T, [ TIM ], TIMINT, TIMST, TIMSTP
The TTIM command returns the current value of the timer in milliseconds. The timer is started with the
TIMST command, and stopped with the TIMSTP command.

TTRIG Transfer Trigger Interrupt Status
Type Transfer, Inputs Product Rev
Syntax <a><!>TTRIG GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TTRIG *TTRIG0000_0
See Also INFNC, [ PCC ], [ PCE ], [ PCME ], [ PCMS ], TAS, TPCC, TPCE,
TPCME, TPCMS, TRGFN, TRGLOT, [ TRIG ]
Use the TTRIG command to check whether a “trigger interrupt” input has been activated to capture a
position, initiate a registration move, or execute a TRGFN function. “Trigger Interrupt” inputs are onboard
inputs that have been assigned the trigger interrupt function with the INFNCi-H command.
Each TTRIG bit is cleared when the captured position value is read with the PCC, PCE, PCME, PCMS, TPCC,
TPCE, TPCME, or TPCMS commands, but the position information is still available from the respective
register until it is overwritten by a subsequent position capture by the same trigger input.
TTRIG bit assignments for inputs on the DRIVE I/O connector are shown below (bits are numbered 1-5 from
left to right). A bit that is set (“1”) indicates the trigger interrupt has occurred, a “0” indicates no trigger
interrupt.
be on Input #5)
TTRIGbbbb_b
Example
COMEXC1 ; Continuous command execution
INFNC1-H ; Define input 1 as trigger A
REGA10000 ; Registration move on trigger A event
WAIT(TRIG.1=B1) ; Wait for trigger A event to occur
WRITE"TRIGGER A OCCURRED" ; Display message
TTRIG ; Get report back (display to monitor)
; response should be: *TTRIG1000_0
TTRQ Transfer Commanded Torque/Force

Syntax <a_><!>TTRQ GT6K n/a
Units percent of the DMTSCL value
GV6K 6.0
Range -100.00% to +100.00% : ±0.01
Response TTRQ: *TTRQ50.00 servo axes)
See Also DMODE, DMONAV, DMONBV, DMTLIM, DMTSCL, TTRQ
In Autorun mode (DMODE13) and Torque/Force Tuning mode (DMODE15), TTRQ = 0. In all other DMODE
modes, TTRQ reports the actual internal torque/force setpoint as a percentage of DMTSCL. Several
commands may limit the maximum value of TTRQ. These commands include DMTLIM, DMVLIM, DMTIC,
DMTIP, TDICNT, TDIMAX.

TTRQA Transfer Actual Torque/Force
Syntax <a_><!>TTRQA GT6K n/a
Units percent of full-scale torque/force set by DMTSCL command
GV6K 6.0
Range -100.00% to +100.00% : ±0.01
Response TTRQA: *TTRQA55 servo axes)
See Also DMONAV, DMONBV, DMTKE, DMTLIM, DMTSCL, TTRQ
The TTRQA command reports the calculated torque/force, based on q-axis current and the motor’s Ke, as a
percentage of the full-scale torque/force set by DMTSCL command.
TUS Transfer User Status

Syntax <a_><!>TUS<.i> GT6K 6.0
Units i = user status bit number
GV6K 6.0
Range 1 - 16
Default n/a
Response TUS: *TUS1111_0000_1111_0000
TUS.4: *1 (user status bit 4 is reported)
See Also INDUSE, INDUST, [ US ]
The TUS command returns the current bit pattern for the user status word. All 16 bits of the user status word
are defined with the INDUST command. Each bit can correspond to an axis status bit, a system status bit, or
an input.
Example:
TUS ; Return the state of the user status word
TVE Transfer Velocity Error

Syntax <a_><!>TVE GT6K n/a
Units Revs/sec
GV6K 6.0
Range -200 to 200 (applicable only to
Default n/a servo axes)
Response TVE: *TVE3
See Also DMEPIT, DMONAV, DMONBV, DMVLIM, SMVER, TVEL, TVELA, V
The TVE command reports velocity error in revs/sec (rotary) or meters/sec (linear). The velocity error is the
difference between the commanded velocity (TVEL) and estimated actual velocity (TVELA).
The maximum allowable velocity error limit is established with the SMVER command.

TVEL Transfer Current Commanded Velocity
Syntax <a_><!>TVEL GT6K 6.0
Units Reported value is in units/sec (scalable by SCLV)
GV6K 6.0
Range n/a
Default n/a
Response TVEL: *TVEL23.3450
See Also DMEPIT, DMONAV, DMONBV, DMVLIM, ERES, SCALE, SCLV, TVELA, V,
[ VEL ]
The TVEL command reports the internal commanded velocity. It is not the programmed velocity (V), and is
limited by DMVLIM. The sign determines the direction of motion. If scaling is enabled (SCALE1), the TVEL
value is scaled by the velocity scaling factor (SCLV).
Stepper Axes: If scaling is disabled (SCALEØ), the value is measured in revolutions/sec (actual velocity in
commanded counts/sec divided by the drive resolution DRES value).
Servo Axes: If scaling is disabled (SCALEØ), the value is measured in encoder revs/sec or resolver revs/sec.
TVELA Transfer Current Actual Velocity

Syntax <a_><!>TVELA GT6K 6.0
Units Reported value is in units/sec
GV6K 6.0
Range n/a
Default n/a
Response TVELA: *TVELA+1.55
See Also DMEPIT, DMONAV, DMONBV, DMVLIM, SCALE, SCLV, SFB, TVEL, V,
[ VEL ], [ VELA ]
For servos, the TVELA command reports the velocity as derived from the feedback device. The sign
determines the direction of motion.
Rotary Motors:
Positive values represent clockwise motion and negative values represent
counter-clockwise motion (assuming you connected the feedback device
according to instructions in the Hardware Installation Guide). Clockwise Counter-clockwise
(positive counts) (negative counts)
You can use the TVELA command at all times; therefore, even if no motion is being commanded, TVELA
will still report a non-zero value as it detects the servoing action.
Units of Measure:
GT6K Steppers: The value reported by steppers is the TVEL value, not velocity derived from the
feedback device. If scaling is disabled (SCALEØ), the value is measured in revolutions/sec (actual
velocity in commanded counts/sec divided by the drive resolution DRES value).
GV6K Servos: If scaling is enabled (SCALE1), the velocity value will be scaled by the velocity
scaling factor (SCLV). If scaling is not enabled (SCALEØ), the value returned will be in encoder
revs/sec or resolver revs/sec.
Example:
TVELA ; Reports the current actual velocity; since no motion is
; commanded, the servoing velocities are reported.
; Example response is: *TVELA+0.0097

TVMAS Transfer Current Master Velocity
Type Following and Transfer Product Rev
Syntax <a_><!>TVMAS GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response TVMAS *TVMAS+0
See Also FFILT, FOLMAS, SCALE, SCLMAS, V, [ VMAS ]
The TVMAS command transfers the current velocity of the master. The master must be assigned first
(FOLMAS command) before this command will be useful.
The precision of the reported TVMAS value is dependent upon the FFILT filter value (details are provided in
the “Master Position Filtering” section in the Following chapter of the Programmer's Guide.
If scaling is enabled (SCALE1), the value returned is scaled by the master scaling factor (SCLMAS). If scaling
is disabled (SCALE0), the value returned is in counts/sec.
[ TW ] Thumbwheel Assignment
Syntax TWi (See below for examples) GT6K 6.0
Units i = sets used by INPLC, INSTW, OUTPLC and OUTTW
GV6K 6.0
Range 1-8
Default n/a
Response n/a
See Also INPLC, INSTW, OUTPLC, OUTTW, [ SS ], TSS
The TW command, executed from within another command, reads data from a parallel device and loads it
into the command field the TW command is occupying. Rule of Thumb for command value substitutions: If
the command syntax shows that the command field requires a real number (denoted by <r>) or and integer
value (denoted by ), you can use the TW substitution (e.g., V(TW)).
The value of the TW command designates which input and output set to use. TW values 1-4 correspond to
INSTW and OUTTW sets 1 - 4, respectively. TW values 5-8 correspond to INPLC and OUTPLC sets 1 - 4,
respectively.
The TW command can be used as a variable assignment (VAR1=TW2) or in another command (e.g., A(TW2)).
However, the TW command cannot be used in an expression such as VAR4=1 + TW2 or IF(TW2<8).
For more information on interfacing thumbwheels, refer to the Programmer’s Guide
Example:
INSTW2,1-4,5 ; Set INSTW set 2 as BCD digits on onboard inputs 1-4, with
; input 5 as the sign bit
OUTTW2,1-3,4,50 ; Set OUTTW set 2 as output strobes on onboard outputs 1-3,
; with output 4 as the output enable bit, and strobe time
; of 50 milliseconds
A(TW2) ; Read data into acceleration using INSTW set 2 and
; OUTTW set 2 as the data configuration

UNTIL( ) Until Part of Repeat Statement
Syntax <a_><!>UNTIL(expression) GT6K 6.0
Units n/a
GV6K 6.0
Default n/a
Response n/a
See Also JUMP, REPEAT
The UNTIL() command, in conjunction with the REPEAT command, provide a means of conditional
program flow. The REPEAT command marks the beginning of the conditional statement. The commands
between the REPEAT and the UNTIL command are executed at least once. Upon reaching the UNTIL
command, the expression contained within the UNTIL command is evaluated. If the expression is false, the
program flow is redirected to the first command after the REPEAT command. If the expression is true, the
first command after the UNTIL command is executed.
Up to 16 levels of REPEAT ... UNTIL() commands may be nested.
NOTE: Be careful about performing a GOTO between REPEAT and UNTIL. Branching to a different
location within the same program will cause the next REPEAT statement encountered to be nested
within the previous REPEAT statement, unless an UNTIL command has already been encountered.
The JUMP command should be used in this case.
UNTIL expression. There is no limit on the number of logical operators, or on the number of relational
operators allowed within a single UNTIL expression.
The limiting factor for the UNTIL expression is the command length. The total character count for the
UNTIL command and expression cannot exceed 80 characters. For example, if you add all the letters in the
UNTIL command and the letters within the () expression, including the parentheses and excluding the
All assignment operators (A, AD, ANI, AS, D, DPTR, ER, IN, INO, MOV, OUT, PC, PCC, PCE, PCMS, PE, PER,
SS, TIM, US, V, VEL, etc.) can be used within the UNTIL expression.
Example:
REPEAT ; Beginning of REPEAT ... UNTIL( ) loop
IF(IN=b1X0) ; IF condition: if onboard input 1 = 1, input 3 = Ø
VAR1=VAR1+1 ; If condition comes true increment variable 1 by 1
ELSE ; Else part of IF condition
TPE ; If condition does not come true transfer position of encoder
UNTIL(VAR1=12) ; Repeat loop until variable 1 = 12
[ US ] User Status
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also INDUSE, INDUST, TUS
The User Status (US) operator is used to assign the user status bits to a binary variable, or to make a comparison
against a binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be
placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make a

comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the value. The
Syntax: VARBn=US where “n” is the binary variable number,
or US can be used in an expression such as IF(US=b11Ø1), or IF(US=h7)
All 16 bits of the user status word are defined with the INDUST command. Each bit can correspond to an
axis status bit, a system status bit, or an input.
You can use the bit select (.) operator to assign only one bit of the user status value to a binary variable,
instead of all 16. For example, VARB1=US.12 assigns user status bit 12 to binary variable 1.
Example:
VARB1=US ; User status assigned to binary variable 1
VARB2=US.12 ; User status bit 12 assigned to binary variable 2
VARB2 ; Response, if bit 12 is set to 1, will be:
IF(US=b111011X11) ; If the user status contains 1's in bit locations
; 1, 2, 3, 5, 6, 8, and 9, and a 0 in bit location 4,
ELSE ; Else
IF(US=h7F00) ; If the user status contains 1's in bit locations
; 1, 2, 3, 5, 6, 7, and 8, and 0's in every other bit
; location, do the IF statement
TSTAT ; Transfer statistics
NIF ; End of second IF statement
NIF ; End of first IF statement
V Velocity
Syntax <a_><!>V<r> GT6K 6.0
Units r = units/sec
GV6K 6.0
Default 1.0000
Response V: *V1.0000
See Also DMEPIT, GO, MC, SCALE, SCLV, TSTAT, TVEL, TVELA, [ V ],
[ VEL ], [ VELA ], VF
The Velocity (V) command defines the speed at which the motor will run when given a GO command. The
motor will attempt to accelerate at a predefined acceleration rate (A), before reaching the velocity
specified (V).
The velocity remains set until you change it with a subsequent velocity command. Velocities outside the
valid range are flagged as an error, with a message *INVALID DATA-FIELD x, where x is the field number.
When an invalid velocity is entered the previous velocity value is retained.
The V command value may be used in variable (VARI) assignments, and in IF and WAIT conditional
statements. In addition, VARI variables may be substituted for the V command value.
ON-THE-FLY CHANGES: While running in the continuous mode (MC1), you can change velocity on the
fly (while motion is in progress) in two ways. One way is to send an immediate velocity command (!V)
followed by an immediate go command (!GO). The other, and more common, way is to enable the
continuous command execution mode (COMEXC1) and execute a buffered velocity command (V) followed
by a buffered go command (GO).

Example:
SCLA25000 ; Set the acceleration scaling factor to
; 25000 counts/unit/unit
SCLD1 ; Set the distance scaling factor to 1 count/unit
DEL proge ; Delete program called proge
DEF proge ; Begin definition of program called proge
END ; End definition of proge
[V] Velocity (Programmed) Assignment

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also GO, SCALE, SCLV, V, [ VEL ]
The velocity assignment operator (V) is used to compare the programmed velocity value to another value or
variable, or to assign the current programmed velocity to a variable.
Syntax: VARn=V where “n” is the variable number, or V can be used in an expression such as IF(V<25)
The (V) value used in any comparison, or in any assignment statement is the programmed (V) value. If the
actual velocity information is required, refer to the VEL or VELA command.
Example:
IF(V<25) ; If the programmed velocity is less than 25
; units/sec, then do the statements between the IF and NIF
VAR1=V*2 ; Variable 1 = programmed velocity times 2
V(VAR1) ; Set the velocity to the value of variable 1
VAR Numeric Variable Assignment

Type Variable Product Rev
Syntax <a_><!>VAR<=r> GT6K 6.0
Units i = variable number
GV6K 6.0
r = number or expression
Range i = 1-225
r = ±999,999,999.99999999
Default n/a
Response VAR1: *VAR1=+0.0
See Also DVAR, VARB, VARCLR, VARI, VCVT, VARS, WRVAR
Numeric variables can be used to store any real number value, with a range from -999,999,999.99999999 to
+999,999,999.99999999. The information is assigned to the variable with the equal sign
(e.g., VAR1=32.3).

All variables (numeric [VAR], integer [VARI], binary [VARB], and string [VARS]) are automatically stored in
battery-backed RAM.
Variables are also used in conjunction with mathematical (=, +, -, *, /, SQRT), trigonometric (ATAN, COS,
PI, SIN, TAN), and bitwise operators (&, |, ^, ~). For example, VAR1=(3+4-7*4/4+3-2/1.5)*3.
Each variable expression must be less than 80 characters in length, including the VAR1= part of the
expression.
Numeric data can also be read into a variable, through the use of the READ , DAT, or TW commands (e.g.,
VAR1=READ1).
All variables can be used within commands that require a real or integer value. For example, the A
command requires real values for acceleration; therefore, the command A(VAR1) is legal. Indirect variable
assignments are also legal; (e.g., VAR(VAR1)=5 or VAR(VAR2)=VAR(VAR4)).
requires a real number (denoted by <r>) or an integer value (denoted by ), you can use the VAR
substitution.
Example:
VAR1=2*PI ; Set Variable 1 to 2 pi
D(VAR2) ; Set the distance value equal to variable 2
Indirect Variables: Numeric variables can be used indirectly. Only one level of indirection is possible
(e.g., VAR(VAR(VARn)) is not a legal command). The example below shows how indirect variables are
used to clear 50 variables (from 1 to 50).
Example:
VAR51 = 1 ; Set Variable 51 to 1
REPEAT ; Begin repeat/until loop
VAR(VAR51) = 0 ; Clear variables (e.g., if VAR51 = 8,
; then VAR(VAR51)=0 is equivalent to VAR8=0)
VAR51 = VAR51 + 1 ; Increment counter
UNTIL (VAR51 = 51) ; End repeat/until loop
VARB Binary Variable Assignment

Syntax <a_><!>VARB<=bb...bbb> (32 bits) GT6K 6.0
bit select syntax: VARB.<bit #>-
GV6K 6.0
Range i = 1-125
b = 0, 1, X, or x
Default n/a
Response VARB1: *VARB1=XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
See Also DVARB, PLCP, VAR, VARI, VARCLR, VARS, VCVT, WRVARB
Binary variables can be used to store any 32-bit or less binary value. The 32-bit binary value must be in the
form of 32 ones, zeros, or Xs. The information is assigned to the binary variable with the equal sign.
battery-backed RAM.
Example: VARB1=b1111ØØØØ1111XXXX1111ØØØØxxxx1111
Notice that the letter “b” is required. The “b” signifies binary: 1’s, Ø’s, and X’s only.
Example: VARB1.14-1
This is a shortcut to change only the state of VARB1 bit #14 to “1”.
Example: VARB1=h7F4356A3
Notice that the letter “h” is required. The “h” signifies hexadecimal: Ø-9, A-F only.

Binary variables are also used in conjunction with bitwise operators (&, |, ^, and ~).
Example: VARB1=VARB2 | VARB3 & b1111ØØØØ11ØØ1
The expression must be less than 80 characters in length, including the (VARB1=b or VARB1=h) part of the
expression.
NOTE: When assigning a binary variable, any bit set to “x” remains “x” until set to “1” or “0”. Any bit
that is unspecified is set to “x”.
All binary variables can be used to set bits for commands that require at least 4 bits of binary information.
For example, the OUT command requires more than 4 bits of binary information; therefore, the command
OUT(VARB1) is legal.
requires a binary value (denoted by ), you can use the VARB substitution.
Example:
VARB1=b1110 & hA ; Binary variable 1 is set to binary 1110 bitwise
; "AND"ed with hexadecimal A
VARB1=IN.7 ; State of onboard input bit 7 assigned to binary variable 1
OUT(VARB2) ; State of all onboard outputs assigned by binary variable 2
VARCLR Variable Clear

Syntax <a_><!>VARCLR GT6K 6.0
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also DVAR, DVARI, DVARB, VAR, VARB, VARI, VARS
VARCLR resets all numeric variables (VAR), integer variables (VARI), binary variables (VARB), and string
variables (VARS) to their factory default values:
Numeric (VAR) variables are set to 0.0
Integer (VARI) variables are set to 0
Binary (VARB) variables are set to bxxxx_xxxx_xxxx_xxxx_xxxx_xxxx_xxxx_xxxx
String (VARS) variables are set to ""
VARI Integer Variable Assignment

Syntax <a_><!>VARI<=i> GT6K 6.0
Units 1st i = variable number
GV6K 6.0
2nd i = integer number
Range 1st i = 1-225
2nd i = -2,147,483,647 to +2,147,483,647
Default n/a
Response VARI1: *VARI1=+Ø
See Also DVARI, INVARI, VARB, VAR, VARCLR, VCVT, WRVARI
Integer variables can be used to store integer number values, with a range from -2,147,483,647 to
+2,147,483,647. The information is assigned to the variable with the equal sign (e.g., VARI1=32).
All variables (numeric [VAR], binary [VARB], integer [VARI], and string [VARS]) are automatically stored in
battery-backed RAM.
Integer variables can be used with mathematical (=, +, -, *, /) and bitwise operators (&, |, ^, ~). For example,
VARI1=(3+4-7*4/4+3-2/2)*3. Numeric (VAR) and integer (VARI) variables can be mixed in the

mathematical expressions. The results, if fractional, are truncated. NOTE: VARI cannot be used with
trigonometric operators (ATAN, COS, PI, SIN, TAN) and square root (SQRT).
Each variable expression must be less than 80 characters in length, including the VARI1= part of the
expression.
Numeric data can also be read into a variable, through the use of the READ, DAT, or TW commands
(e.g., VARI1=READ1). Setting an integer variable to a real number results in a truncation.
All integer variables can be used within commands that require a real or integer value. For example, the A
command requires real values for acceleration; therefore, the command A(VARI1) is legal. Indirect
variable assignments are also legal; (e.g., VARI(VARI1)=5 or VARI(VARI2)=VARI(VARI4)).
Integer variables should be used whenever possible to allow faster math operation than numeric
variables (VAR).
Mapping inputs to a VARI variable: It is possible to map the binary value of a group of inputs to an integer
variable. For details, refer o the INVARI command.
requires a real number (denoted by <r>) or an integer value (denoted by , you can use the VARI
substitution.
Example:
VARI1=2*3 ; Set Variable 1 to 6
D(VARI2) ; Set the distance value equal to integer variable 2
Indirect Variables: Integer variables can be used indirectly. Only one level of indirection is possible (e.g.,
VARI(VARI(VARIn)) is not a legal command). The example below shows how indirect variables are used
to clear 50 variables (from 1 to 50).
Example:
VARI51 = 1 ; Set Integer Variable 51 to 1
REPEAT ; Begin repeat/until loop
VARI(VARI51) = 0 ; Clear variables (e.g., if VARI51 = 8, then
; VARI(VARI51)=0 is equivalent to VARI8=0)
VARI51 = VARI51 + 1 ; Increment counter
UNTIL (VARI51 = 51)
VARS String Variable Assignment

Syntax <a_><!>VARS<="message"> GT6K 6.0
GV6K 6.0
message = text string
Range i = 1-25
Message = up to 50 characters
Default n/a
Response VARS1: *VARS1="HI JOHN"
See Also ', [ \ ], EOT, [ READ ], VAR, VARB, VARCLR, VARI, WRITE,
WRVARS
String variables can be assigned a character string up to 50 characters long. The characters within the string
can be any character except the quote ("), the semicolon (;), and the colon (:). The backslash character (\)
immediately followed by a number is okay.
battery-backed RAM.
To place specific control characters that are not directly available on the keyboard within a character string,
use the backslash character (\), followed by the control character's ASCII decimal equivalent. Multiple
control characters can be sent.

For example, to set the string for variable #1 equal to HI MOM<cr>, use the command VARS1="HI
MOM\13" where \13 corresponds to the carriage return character.
Common characters and their ASCII equivalent value:
<lf> Line Feed 10

" Quote 34
: Colon 58
; Semi-colon 59
\ Backslash 92
You can copy one VARS to another VARS. VARSn=VARSm may be used, as well as variable substitution for
“n” or “m”.
Example:
VARS1="Enter velocity >" ; Assign a message to string variable #1
VAR2=READ1 ; Transmit string variable 1, and wait for numeric
; data entered in the format of !'<data>.
; Once numeric data is received, place it in
; numeric variable 2.
; Example of data entry is to type "!'10.0", which
; will assign numeric variable 2 the value 10.00
VCVT Variable Type Conversion

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also VAR, VARB, VARI
Using VCVT operator, you can convert numeric (VAR or VARI) values to binary (VARB) values, and vice
versa. The operation is a signed operation as the binary value is interpreted as a two's complement number,
with the least significant bit (LSB) on the left and the most significant bit (MSB) on the right. A don't care
(X) in a binary value will be interpreted as a zero (Ø).
If the mathematical statement's result is a numeric value, then VCVT converts binary values to numeric
values. If the statement's result is a binary value, then VCVT converts numeric values to binary values.
You can also convert real (VAR) values to integer (VARI) values (real values are truncated in the process).
NOTE: Numeric variables (VAR) have insufficient range to convert a full 32-bit binary variable (VARB). For
example, executing the VARB1=h00000004 command and then the VAR1=VCVT(VARB1) command yields
an INVALID DATA error.

Numeric-to-Binary Conversion:
VAR1=-5 ; Set numeric variable value = -5
VARB1=VCVT(VAR1) ; Convert the numeric value to a binary value and
; store in VARB1
VARB1 ; Display value of VARB1. The response should be:
; *VARB1=1101_1111_1111_1111_1111_1111_1111_1111
VAR1=25 ; Set numeric variable value = 25

VARB1=VCVT(VAR1) ; Convert the numeric value to a binary value and
; store in VARB1
VARB1 ; Display value of VARB1. The response should be:
; *VARB1=1001_1000_0000_0000_0000_0000_0000_0000
Binary-to-Numeric Conversion:
VARB1=b0010_0110_0000_0000_0000_0000_0000_0000 ; Set binary variable = +100.0
VAR1=VCVT(VARB1) ; Convert the binary value to a numeric value
VAR1 ; *VAR1=+100.0
[ VEL ] Velocity (Commanded) Assignment

Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also SCALE, SCLV, SFB, TVEL, TVELA, V, [ V ], VELA
Use the VEL operator to compare the current commanded velocity to another value or variable, or to assign
the current commanded velocity to a variable. The velocity value used in any comparison, or in any
assignment statement, is the current commanded velocity value, not the programmed velocity (V) or the
actual velocity as measured from the feedback device (VELA).
Syntax: VARn=VEL where “n” is the variable number, or VEL can be used in an expression such as
IF(VEL>4).
The VEL value represents the current commanded velocity. It is not the programmed velocity (V). If scaling
is enabled (SCALE1), the VEL value is scaled by the velocity scaling factor (SCLV).
GT6K Steppers: If scaling is disabled (SCALEØ), the value is measured in revolutions/sec (actual velocity
in commanded counts/sec divided by the drive resolution DRES value).
GV6K Servos: If scaling is disabled (SCALEØ), the value is measured in encoder revs/sec or resolver
revs/sec.
Example:
IF(VEL<25) ; If the current velocity is less than 25 units/sec,

[ VELA ] Velocity (Actual) Assignment
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also ERES, SCLV, TVEL, TVELA, [V], V, [VEL]
The VELA operator is used to compare the current actual velocity (as derived from the feedback device) to
another value or variable, or to assign the current velocity to a variable. If the programmed velocity
information is required, refer to the [V] operator; if the current commanded velocity information is
required, refer to the [VEL] operator.
The sign determines the direction of motion. You can use the VELA operator at all times; therefore, even if
no motion is being commanded, TVELA will still report a non-zero value as it detects the servoing action.
Syntax: VARn=VELA where “n” is the variable number, or VELA can be used in an expression such as
IF(VELA>4).
Units of Measure:
GT6K Steppers: The velocity is always revs/sec (actual velocity in counts/sec multiplied by the
ERES value if in ENCCNT1 mode, or multiplied by DRES if in ENCCNT0 mode).
GV6K Servos: If scaling is enabled (SCALE1), the velocity value will be scaled by the velocity
scaling factor (SCLV). If scaling is not enabled (SCALEØ), the value returned will be in encoder
revs/sec or resolver revs/sec.
Example:
IF(VELA<25) ; If the current velocity is less than 25 units/sec,
; then do the statements between IF and NIF
VF Final Velocity
Syntax <a_><!>VF<r> GT6K 6.0
Units n/a
GV6K 6.0
Range 0 (non-zero values result in error message)
Default 0
Response n/a
See Also FOLRN, FOLRD, FOLMAS, FOLMD, GOBUF, SCLD, FOLEN, V
The VF command designates that the motor will move the load the programmed distance in a preset GOBUF
segment, completing the move at a final speed of zero. VF applies only to the next (subsequent) GOBUF,
which marks an intermediate “end of move” within a profile. VF is used only in conjunction with the GOBUF
command. Normal preset GO moves always finish with zero velocity.
The VF command remains in effect for the affected axis until a GOBUF is executed on that axis, or until you
issue a RESET command.
Any non-zero value that is entered for VF will result in an immediate error message.

[ VMAS ] Current Master Velocity
Units n/a
GV6K 6.0
Range n/a
Default n/a
Response n/a
See Also FFILT, FMCNEW, FMCP, FOLMAS, FOLMD, SCALE, SCLMAS, TVMAS
The VMAS command is used to assign the master velocity value to a variable, or to make a comparison
against another value. The master must be assigned first (FOLMAS command) before this command will be
useful.
Syntax: VARn=VMAS where “n” is the variable number, or VMAS can be used in an expression such as
IF(VMAS>1Ø).
The precision of the VMAS value is dependent upon the FFILT filter value.
If scaling is enabled (SCALE1), the velocity value is scaled by the master scaling factor (SCLMAS). If scaling
is disabled (SCALEØ), the velocity value is in counts/sec.
Example:
IF(VMAS>4.3) ; If the master is traveling at more than
; 4.3 user units/sec then do the IF statement
OUT.4=b1 ; Set onboard output #4 to 1
VAR14=VMAS ; Set VAR14 to master velocity
WAIT( ) Wait for a Specific Condition

Syntax <a_><!>WAIT(expression) GT6K 6.0
Units n/a
GV6K 6.0
Default n/a
Response n/a
See Also FMCLEN, FMCNEW, FMCP, GOWHEN, IF, NWHILE, REPEAT, [ SS ], T,
TSS, UNTIL, WHILE
The WAIT command is used to wait for a specific expression to evaluate true. No commands, except for
immediate commands (a command preceded with !), after the WAIT command will be processed until the
expression contained within the parentheses of the WAIT command evaluates true. The COMEXC command
has no effect on the WAIT command. When a wait condition is pending, system status (TSS) bit #14 is set.
WAIT() expression. There is no limit on the number of logical operators, or on the number of relational
operators allowed within a single WAIT() expression.
The limiting factor for the WAIT() expression is the command length. The total character count for the
WAIT() command and expression cannot exceed 80 characters. For example, if you add all the letters in the
WAIT command and the letters within the () expression, including the parenthesis and excluding the
All assignment operators (A, AD, AS, D, ER, IN, INO, MOV, OUT, PC, PCE, PCMS, PE, PER, SS, TIM, US, V,
VEL, etc.) can be used within the WAIT() expression.

Example:
MC1 ; Mode continuous
COMEXC1 ; Enable continuous command mode
WAIT(IN=b1) ; Wait for input 1 to be active
S1 ; Stop motion
WAIT(MOV=b0) ; Wait for motion complete
WHILE( ) WHILE Statement

Type Program Flow Control; Conditional Branching Product Rev
Syntax <a_><!>WHILE(expression) GT6K 6.0
Units n/a
GV6K 6.0
Default n/a
Response n/a
See Also IF, JUMP, NWHILE, REPEAT, UNTIL, WAIT
The WHILE command, in conjunction with the NWHILE command, provide a means of conditional program
flow. The WHILE command marks the beginning of the conditional statement, the NWHILE command marks
the end. If the expression contained within the parenthesis of the WHILE command evaluates true, then the
commands between the WHILE and NWHILE are executed, and continue to execute as long as the expression
evaluates true. If the expression evaluates false, then program execution jumps to the first command after
the NWHILE. Up to 16 levels of WHILE ... NWHILE commands may be nested.
Programming order: WHILE(expression) ...commands... NWHILE
NOTE: Be careful about performing a GOTO between WHILE and NWHILE. Branching to a different
location within the same program will cause the next WHILE statement encountered to be nested
within the previous WHILE statement, unless a NWHILE command has already been encountered.
The JUMP command should be used in this situation.
WHILE() expression. There is no limit on the number of logical operators, or on the number of relational
operators allowed within a single WHILE() expression.
The limiting factor for the WHILE() expression is the command length. The total character count for the
WHILE() command and expression cannot exceed 80 characters. For example, if you add all the letters in
the WHILE command and the letters within the () expression, including the parenthesis and excluding the
All assignment operators (A, AD, AS, D, ER, IN, INO, MOV, OUT, PC, PCE, PCMS, PE, PER, SS, TIM, US, V,
VEL, etc.) can be used within the WHILE() expression.
Example:
WHILE(IN=b1X0) ; While onboard input 1 = 1, input 3 = Ø,
; execute commands between WHILE and NWHILE
T5 ; Wait 5 seconds
TPE ; Transfer position of all encoders
WHILE(1ANV<2.3) ; While analog channel 1's voltage is less than 2.3 volts,
; execute commands between WHILE and NWHILE
TPC ; Transfer commanded position

WRITE Write a Message
Syntax <a_><!>WRITE"<message>" GT6K 6.0
Units n/a
GV6K 6.0
Range Up to 69 characters (may not use ", ; or :)
Default Messages are written to COM1 by default
NOTE: “COM1” is the “RS-232/485” or “ETHERNET” connector.
“COM2” is the “RS-232” connector.
Response WRITE"message": message
See Also [ \ ], EOT, PORT, [ READ ], VARS, WRVAR, WRVARB, WRVARS
The WRITE command provides an efficient way of transmitting message strings to the Ethernet port and the
RS-232 or RS-485 ports. These messages can then be used by the operating program. The EOT command
characters will be transmitted after the message.
Each message can be assigned a character string up to 69 characters long. The characters within the string
can be any character except the quote ("), the colon (:), and the asterisk (*).
To place specific control characters that are not directly available on the keyboard within the character
string, use the backslash character (\), followed by the control character’s ASCII decimal equivalent.
Multiple control characters can be sent. For example, to set the message equal to
HI MOM<cr>, use the command WRITE"HI MOM\13" where \13 corresponds to the carriage return
character. Common characters and their ASCII equivalent values are listed below:

<lf> Line Feed 10
" Quote 34
: Colon 58
; Semi-colon 59
\ Backslash 92
NOTE: All text strings are transmitted in UPPER CASE. If you must transmit lower-case strings, use the
ASCII decimal equivalent for each character (see ASCII table in Appendix B). For example,
WRITE"\106\117\110\107" will transmit the text string “junk” in lower-case letters.
NOTE: Upon power up or after a reset, by default the WRITE command writes messages to COM1. See
the PORT command for instructions on writing messages to COM2. If you want to automatically write
messages to COM2 after power up or a reset, consider putting the PORT command in your STARTP
program. See the STARTP command for more information.
Example:
WRITE"It's a wonderful life!" ; Send the message "IT'S A WONDERFUL LIFE!"

WRVAR Write a Numeric Variable
Syntax <a_><!>WRVAR GT6K 6.0
GV6K 6.0
Range i = 1-225
Default n/a
Response WRVAR1: +0.0
See Also EOT, [ READ ], VAR, WRITE, WRVARB, WRVARI, WRVARS
Use the WRVAR command to transfer a specific numeric variable (VAR) to the Ethernet port and the
RS-232C or RS-485 ports. Only the value and the EOT command characters are transmitted.
Example:
WRVAR1 ; Transmit variable 1 (the value +100.0 is transmitted)
WRVARB Write a Binary Variable

Syntax <a_><!>WRVARB GT6K 6.0
GV6K 6.0
Range i = 1-125
Default n/a
Response WRVARB1: XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
See Also EOT, [ READ ], VARB, WRITE, WRVAR, WRVARI, WRVARS
Use the WRVARB command to transfer a specific binary variable (VARB) to the Ethernet port and the
RS-232C or RS-485 ports. Only the binary value and the EOT command characters are transmitted.
Example:
VARB1=b1101 ; Set binary variable 1 to 1101
WRVARB1 ; Transmit binary variable 1
; (value transmitted =1101_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX)
WRVARI Write an Integer Variable

Syntax <a_><!>WRVARI<=i> GT6K 6.0
Units 1st i = variable number
GV6K 6.0
2nd i = integer number
Range 1st i = 1-225
2nd i = -2,147,483,647 to +2,147,483,647
Default n/a
Response WRVARI1: +0
See Also EOT, [ READ ], VARI, WRITE, WRVAR, WRVARB, WRVARS
Use the WRVARI command to transfer a specific integer variable (VARI) to the Ethernet port and the
RS-232C or RS-485 ports. Only the integer value and the EOT command characters are transmitted.
Integer variables should be used whenever possible to allow faster math operation than numeric
variables (VAR).
Example:
VARI1=100 ; Set integer variable 1 equal to 100
WRVARI1 ; Transmit integer variable 1 (the value +100 is transmitted)

WRVARS Write a String Variable
Syntax <a_><!>WRVARS GT6K 6.0
GV6K 6.0
Range i = 1-25
Default n/a
Response WRVARS1: No response until a string is placed in VARS1
See Also EOT, [ READ ], VARS, WRITE, WRVAR , WRVARB, WRVARI
Use the WRVARS command to transfer a specific string variable (VARS) to the Ethernet port and the
RS-232C or RS-485 ports. Only the string and the EOT command characters are transmitted.
NOTE: All text strings are transmitted in UPPER CASE. If you must transmit lower-case strings, use the
ASCII decimal equivalent for each character (see ASCII table in Appendix B). For example, if you entered
VARS1="\106\117\110\107", the WRVARS1 command will transmit the text string “junk” in lower-case
letters.
Example:
VARS1="John L" ; Set string variable 1 = "John L"
WRVARS1 ; Transmit string variable 1 (string "JOHN L" is transmitted)
XONOFF Enable/Disable XON / XOFF

Syntax <a_><!>XONOFF GT6K 6.0
GV6K 6.0
Default 1 for COM1, 0 for COM2 (PORT command setting determines which
COM port’s XONOFF setting is checked)
Response XONOFF *XONOFF1
See Also ], [, BOT, DRPCHK, E, EOT, ERRBAD, ERROK, LOCK, PORT
Use the XONOFF command to enable or disable XON/XOFF (ASCII handshaking).

XONOFF1 enables XON/XOFF, which allows the Gem6K to recognize ASCII handshaking control
characters. When XON/XOFF is enabled, ASCII 17 or ∧Q is a signal to start sending characters; ASCII 19
or ∧S is a signal to stop sending characters. XONOFFØ disables XON/XOFF.
The PORT command determines which COM port is affected by the XONOFF command. Each port will track
its XON/XOFF values
RS-485 Multi-drop: If you are using RS-485 multi-drop, disable XON/XOFF by executing the PORT1
command followed by the XONOFFØ command.
NOTE: COM1 is the “RS-232/485” or “ETHERNET” connector; COM2 is the “RS-232” connector.

Appendix A:
Gem6K Command List
(Firmware Revision 6.0)
Command Description Command Description
% Task Identifier ANO Set Analog Output Voltage Value

[!] Immediate Command Identifier [ ANO ] Analog Output Voltage Value [operator]
[@] Global Command Identifier [ AS ] Axis Status [operator]
; Begin Comment [ ASX ] Axis Status, Extended [operator]
$ Label Declaration [ ATAN() ] Arc Tangent [operator]
[#] Step Through a Program BAUD Baud Rate
' Enter Interactive Data BOT Beginning of Transmission Characters
[.] Bit Select BP Set a Program Break Point
["] Begin and End String BREAK Terminate Program Execution
[\] ASCII Character Designator C Continue Command Execution
[=] Assignment or Equivalence CERRLG Clear Error Log
[>] Greater Than COMEXC Continuous Command Processing Mode
[ >= ] Greater Than or Equal COMEXL Continue Execution on End-of-Travel Limit
[<] Less Than COMEXR Continue Motion on Pause/Continue Input
[ <= ] Less Than or Equal COMEXS Continue Execution on Stop
[ <> ] Not Equal [ COS() ] Cosine [operator]
[()] Operation Priority Level D Distance
[+] Addition [D] Distance [operator]
[-] Subtraction DABSD Enable ABS Damping
[*] Multiplication DACTDP Active Damping
[/] Division [ DAT ] Data Assignment [operator]
[&] Boolean And DATA Data Statement
[|] Boolean Inclusive Or [ DATP ] Data Program
[^] Boolean Exclusive Or DATPTR Set Data Pointer
[ ~( ) ] Boolean Not DATRST Reset Data Pointer
[ << ] Shift from Right to Left (bit 32 to bit 1) DATSIZ Data Program Size
[ >> ] Shift from Left to Right (bit 1 to bit 32) DATTCH Data Teach
[ Send Response to Both COM Ports DAUTOS Auto Current Standby
] Send Response to Alternate COM Port DCLEAR Clear RP240 Display
A Acceleration DCLRLR Clear Latched Status Register Bits
[A] Acceleration [operator] DDAMPA Damping During Acceleration/Deceleration
AA Acceleration, S-curve DEF Begin Definition of Program
AD Deceleration DEL Delete Program
[ AD ] Deceleration [operator] DELVIS Electronic Viscosity
ADA Deceleration, S-curve DIBW Current Loop Bandwidth
ADDR Auto-Address Multiple Serial Units DIFOLD Current Foldback Enable
[ AND ] And [operator] DIGN Current Loop Gain
[ ANI ] Analog Input Voltage [operator] DJOG Enable RP240 Jog Mode
ANIEN Analog Input Enable [ DKEY ] Value of RP240 Key
ANIMAS Assign Analog Input as Master DLED Turn RP240 LEDs ON/OFF
ANIRNG Analog Input Voltage Range DMEPIT Motor Electrical Pitch
Appendix A: Command List 343

DMODE Drive Control Mode ENCCNT Encoder Count Reference Enable

DMONAS Analog Monitor Output A – Scaling END End Definition of Program
DMONAV Analog Monitor Output A – Variable EOL End-of-Line Termination Characters
DMONBS Analog Monitor Output B – Scaling EOT End-of-Transmission Characters
DMONBV Analog Monitor Output B – Variable [ ER ] Error Status [operator]
DMTAMB Motor Ambient Temperature ERASE Erase All Programs
DMTD Motor Damping ERES Encoder Resolution
DMTIC Continuous Current ERRBAD Error Prompt Characters
DMTICD Continuous Current Derating ERRDEF Program Definition Prompt Characters
DMTIND Motor Inductance ERRLVL Error Detection Level
DMTIP Peak Current ERROK Good Prompt Characters
DMTJ Motor Rotor Inertia / Forcer Mass ERROR Enable Error Checking
DMTKE Motor Ke ERRORL Error Log Selection
DMTLIM Torque/Force Limit ERRORP Assign an Error Program
DMTLMN Minimum Motor Inductance ESDB Stall Backlash Deadband
DMTLMX Maximum Motor Inductance ESK Kill on Stall
DMTMAX Maximum Motor Winding Temperature ESTALL Enable Encoder Stall Detection
DMTR Identify (and Load) Motor EXE Execute Program from a Compiled Program
DMTRES Motor Winding Resistance [ FB ] Value of Feedback Device [operator]
DMTRWC Motor Winding Thermal Resistance FFILT Following Filter
DMTSCL Torque/Force Scaling FGADV Following Geared Advance
DMTSTT Motor Static Torque FLTDSB Fault on Drive Disable (DRIVE0)
DMTTCM Motor Thermal Time Constant FMAXA Follower Axis Maximum Acceleration
DMTTCW Motor Winding Time Constant FMAXV Follower Axis Maximum Velocity
DMTW Motor Rated Speed FMCLEN Master Cycle Length
DMVLIM Velocity Limit FMCNEW Restart Master Cycle Counting
DNOTAD Notch Filter A Depth FMCP Initial Master Cycle Position
DNOTAF Notch Filter A Frequency FOLEN Enable Following Mode
DNOTAQ Notch Filter A Quality Factor FOLK Following Kill, Limitations
DNOTBD Notch Filter B Depth FOLMAS Assignment of Master to Follower
DNOTBF Notch Filter B Frequency FOLMD Master Distance
DNOTBQ Notch Filter B Quality Factor FOLRD Denominator of Follower-to-Master Ratio
DNOTLD Notch Lead Filter Break Frequency FOLRN Numerator of Follower-to-Master Ratio
DNOTLG Notch Lag Filter Break Frequency FOLRNF Numerator of Final Follower-to-Master Ratio
DPASS Change RP240 Password FPPEN Enable Master Position Prediction
DPBW Position Loop Bandwidth [ FS ] Following Status [operator]
DPCUR Position RP240 Display Cursor FSHFC Continuous Shift
DPHBAL Phase Balance FSHFD Preset Shift
DPHOFA Phase A Current Offset FVMACC Virtual Master Count Acceleration
DPHOFB Phase B Current Offset FVMFRQ Virtual Master Count Frequency
DPOLE Number of Motor Pole Pairs GO Initiate Motion
[ DPTR ] Data Pointer Location [operator] GOBUF Store a Compiled Motion Segment
DPWM Drive PWM Frequency GOSUB Call a Subroutine
[ DREAD ] Read RP240 Numeric Data [operator] GOTO Go To a Program or Label
[ DREADF ] Read RP240 Function Key [operator] GOWHEN Conditional Go
DREADI RP240 Data Read, Immediate Mode HALT Terminate Program Execution
DRES Drive Resolution HELP Technical Support Phone Numbers
DRESET Drive Reset HOM Initiate Homing Operation
DRIVE Drive Enable/Disable HOMA Homing Acceleration
DRPCHK RP240 COM Port Check HOMAA Homing Acceleration, S-curve
DSTALL Enable/Disable Drive Stall Detection HOMAD Homing Deceleration
DSTP Enable/Disable RP240 Stop Key HOMADA Homing Deceleration, S-curve
DVAR Display Numeric Variable on RP240 HOMBAC Backup to Home
DVARB Display Binary Variable on RP240 HOMDF Homing Final Direction
DVARI Display Integer Variable on RP240 HOMEDG Home Reference Edge
DWAVEF Waveform HOMV Homing Velocity
DWRITE Write Text to RP240 HOMVF Homing Velocity, Final Approach
E Enable Serial Communication HOMZ Home to Encoder Z Channel
ECHO Enable Communication Echo IF() IF Statement
ELSE Else Condition of IF Statement IN Virtual Input Override

[ IN ] Input Status [operator] MESND Master Encoder Step & Direction Mode
INDEB Input Debounce Time [ MOV ] Axis Moving Status [operator]
INDUSE Enable User Status NIF End IF Statement
INDUST User Status Definition [ NMCY ] Master Cycle Number Status [operator]
INEN Enable Specific Inputs [ NOT ] Not [operator]
INFNC Input Function Assignment NTADDR Set IP Address
INLVL Input Active Level NTCONN Network Connect
[ INO ] Other Inputs (Enable Input) Status [operator] NTFEN Ethernet Communication Enable
INPLC Establish PLC Data Inputs NTID Network Sharing Unit ID for Peer-to-Peer
INSELP Enable Program Selection via Inputs NTIO Network I/O Configuration
INSTW Establish Thumbwheel Data Inputs NTIP Network IP Address
INTHW Enable Checking for Alarm Events NTMASK Ethernet Network Mask
INTSW Force an Alarm Event NTMPRB Network Map Binary Variables for Reading
INVARI Map Inputs to Integer Variable NTMPRI Network Map Integer Variables for Reading
JOG Enable Jog Mode NTMPWB Network Map Binary Variable for Writing
JOGA Jog Acceleration NTMPWI Network Map Integer Variable for Writing
JOGAA Jog Acceleration, S-curve NTPOLL Network Polling Rate
JOGAD Jog Deceleration NTRATE Network Sharing Rate for Peer-to-Peer
JOGADA Jog Deceleration, S-curve [ NTS ] Network Status
JOGVH Jog Velocity, High NTSELP Network Select Program Enable
JOGVL Jog Velocity, Low NTSFS Ethernet Send Fast Status Packet
JOY Enable Joystick Mode NTWRIT Network (Ethernet) ASCII Write
JOYA Joystick Acceleration NWHILE End of WHILE Statement
JOYAA Joystick Acceleration, S-curve ONCOND Enable Program Interrupt (“On”) Conditions
JOYAD Joystick Deceleration ONIN On an Input Condition GOSUB
JOYADA Joystick Deceleration, S-curve ONP On Condition Program Assignment
JOYAXH Joystick Analog Channel, High ONUS On a User Status Condition GOSUB
JOYCDB Joystick Center Deadband ONVARA On Numeric Variable 1 Condition GOSUB
JOYCTR Joystick Center ONVARB On Numeric Variable 2 Condition GOSUB
JOYEDB Joystick End Deadband [ OR ] Or [operator]
JOYVH Joystick Velocity, High ORES Output Resolution
JOYVL Joystick Velocity, Low OUT Activate Programmable Outputs
JOYZ Joystick Zero (Center) [ OUT ] Programmable Outputs Status [operator]
JUMP Jump to Program or Label (No Return) OUTALL Activate Programmable Outputs, Range
K Kill Motion OUTBD Brake Output Delay
<ctrl>K Kill Motion OUTEN Disable Programmable Outputs
KDRIVE Disable Drive on Kill OUTFNC Programmable Output Function Assignment
KIOEN Kill on EVM32 Disconnect OUTLVL Programmable Output Active Level
L Loop OUTPA Output on Position
LDAMP Load Damping OUTPLC Establish PLC Strobe Outputs
LH Enable Hardware End-of-Travel Limits OUTTW Establish Thumbwheel Strobe Outputs
LHAD Hardware EOT Limits Deceleration [ PC ] Position Commanded [operator]
LHADA Hardware EOT Limits Decel, S-curve [ PCC ] Captured Commanded Position [operator]
[ LIM ] Hardware EOT & Home Limit Inputs, Status [ PCE ] Position of Captured Encoder [operator]
LIMEN Limit Input Enable [ PCME ] Position of Captured Master Encoder [operator]
LIMFNC Limit Input Function Assignment [ PCMS ] Position of Captured Master Cycle [operator]
LIMLVL Hardware EOT & Home Inputs, Active Level PCOMP Compile a Profile or Program
LJRAT Load-to-Rotor/Forcer Inertia/Mass Ratio [ PE ] Position of Encoder [operator]
LN End of Loop [ PER ] Position Error [operator]
LOCK Lock Resource to a Task PESET Set Encoder Absolute Position (steppers)
LS Enable Software End-of-Travel Limits PEXE Execute a Compiled Program
LSAD Software EOT Limits, Deceleration [ PI ] Pi (π) [operator]
LSADA Software EOT Limits Decel, S-curve PLCP Compiled PLC Program
LSNEG Negative-Direction Software EOT Limit PLN End of Loop, Compiled Motion
LSPOS Positive-Direction Software EOT Limit PLOOP Start of Loop, Compiled Motion
LX Terminate Loop [ PMAS ] Current Master Cycle Position [operator]
MA Enable Absolute/Incremental Positioning [ PME ] Position of Master Encoder [operator]
MC Enable Continuous/Preset Positioning PMECLR Clear Master Encoder Absolute Position
MEMORY Partition Product Memory PMESET Set Master Encoder Absolute Position
MEPOL Master Encoder Polarity PORT Designate Destination COM Port

POUTA Compiled Output (Compiled Motion) TASF Transfer Axis Status (full-text report)
PRUN Run a Compiled Profile [ TASK ] Task Number Assignment [operator]
PS Pause Program Execution TASX Transfer Axis Status, Extended
PSET Establish Absolute Position Reference TASXF Transfer Axis Status, Extended (full-text)
[ PSHF ] Net Position Shift Status [operator] TCMDER Transfer Command Error
[ PSLV ] Commanded Follower Position [operator] TCS Transfer Configuration Status
PUCOMP Un-Compile a Compiled Profile TDHRS Transfer Operating Hours
RADIAN Specify Units in Radians or Degrees TDICNT Transfer Continuous Current Rating
RE Enable Registration TDIMAX Transfer Maximum Current Rating
[ READ ] Read a Value TDIR Transfer Program Directory
REG Registration Distance TDPTR Transfer Data Pointer Status
REGLOD Registration Lockout Distance TDTEMP Transfer Drive Temperature
REGSS Registration Single-Shot TDVBUS Transfer Bus Voltage
REPEAT REPEAT Statement TER Transfer Error Status
RESET Reset the Gem6K Drive TERF Transfer Error Status (full-text report)
RFS Return to Factory Settings TERRLG Transfer Error Log
RUN Begin Executing a Program TEX Transfer Program Execution Status
S Stop Motion TFB Transfer Position of Feedback Devices
[ SC ] Controller Status [operator] TFS Transfer Following Status
SCALE Enable Scaling Factors TFSF Transfer Following Status (full-test report)
[ SCAN ] PLC Scan Runtime [operator] TGAIN Transfer Servo Gains
SCANP Scan a Compiled PLC Program THALL Transfer Hall Sensor Values
SCLA Acceleration Scale Factor [ TIM ] Current Timer Value [operator]
SCLD Distance Scale Factor TIMINT Timer Value to Cause an Alarm Event
SCLMAS Master Axis Scale Factor TIMST Start Timer
SCLV Velocity Scale Factor TIMSTP Stop Timer
[ SEG ] Number of Free Segment Buffers [operator] TIN Transfer Programmable Input Status
SFB Select Servo Feedback Source TINO Transfer Other Input Status
SGAF Gain – Acceleration Feedforward TINOF Transfer Other Input Status (full-text report)
SGENB Enable a Servo Gain Set TIO Transfer Expansion I/O Status
SGINTE Integrator Enable TLABEL Transfer Labels
SGIRAT Current Damping Ratio TLIM Transfer Hardware Limit Status
SGPRAT Position Damping Ratio TMEM Transfer Memory Usage
SGPSIG Velocity/Position Bandwidth Ratio TMTEMP Transfer Motor Temperature
SGSET Save a Servo Gain Set TNMCY Transfer Master Cycle Number
SGVF Gain – Velocity Feedforward TNT Transfer Ethernet Status
SGVRAT Velocity Damping Ratio TNTMAC Transfer Ethernet Address
SHALL Hall Sensor Inversion TNTS Transfer Network Status
[ SIN() ] Sine [operator] TNTSF Transfer Network Status (full-text report)
SINAMP Virtual Master Sine Wave Amplitude TOUT Transfer Programmable Output Status
SINANG Virtual Master Sine Wave Angle TPC Transfer Commanded Position
SINGO Virtual Master - Start Internal Sine Wave TPCC Transfer Captured Commanded Position
SMPER Maximum Allowable Position Error TPCE Transfer Position of Captured Encoder
SMVER Maximum Allowable Velocity Error TPCME Transfer Position of Captured Master Encoder
[ SQRT ] Square Root [operator] TPCMS Transfer Position of Captured Master Cycle
SRSET Resolver Offset Angle TPE Transfer Position of Encoder
[ SS ] System Status [operator] TPER Transfer Position Error
STARTP Start-up Program TPMAS Transfer Position of Master (current cycle)
STEP Enable Single Step Mode TPME Transfer Position of Master Encoder
STRGTD Target Zone Distance TPRA Transfer Absolute Resolver Position
STRGTE Enable Target Zone Mode TPROG Transfer Program Contents
STRGTT Target Zone Timeout Period TPSHF Transfer Net Position Shift
STRGTV Target Zone Velocity TPSLV Transfer Commanded Position of Follower
[ SWAP ] Task Swap Assignment [operator] TRACE Enable Program Trace Mode
T Time Delay TRACEP Enable Program Flow Mode
TACC Transfer Commanded Acceleration TRANS Enable Translation Mode
[ TAN() ] Tangent [operator] TREV Transfer Revision Level
TANI Transfer ANI Analog Input Voltage TRGFN Trigger Functions
TANO Transfer Analog Output Voltage TRGLOT Trigger Interrupt Lockout Time
TAS Transfer Axis Status [ TRIG ] Trigger Interrupt Status [operator]

TSC Transfer Controller Status

TSCAN Transfer Scan Time of PLC Program
TSCF Transfer Controller Status (full-text report)
TSEG Transfer Number of Free Segment Buffers
TSGSET Transfer Servo Gain Set
TSKAX Task Axis Association for Multi-Tasking
TSKTRN Task Turns Before Swapping
TSROFF Transfer Resolver Offset Angle
TSS Transfer System Status
TSSF Transfer System Status (full-text report)
TSTAT Transfer Drive Statistics
TSTLT Transfer Settling Time
TSWAP Transfer Currently Active Tasks
TTASK Transfer Task Number
TTIM Transfer Timer Value
TTRIG Transfer Trigger Interrupt Status
TTRQ Transfer Commanded Torque/Force
TTRQA Transfer Actual Torque/Force
TUS Transfer User Status
TVE Transfer Velocity Error
TVEL Transfer Current Commanded Velocity
TVELA Transfer Current Actual Velocity
TVMAS Transfer Current Master Velocity
[ TW ] Thumbwheel Assignment [operator]
UNTIL() Until Part of REPEAT Statement
[ US ] User Status [operator]
V Velocity
[V] Velocity [operator]
VAR Numeric Variable Assignment
VARB Binary Variable Assignment
VARCLR Clear All Variables
VARI Integer Variable Assignment
VARS String Variable Assignment
VARSHI Shared Input Variable for Peer-to-Peer
VARSHO Shared Output Variable for Peer-to-Peer
VCVT() Variable Type Conversion
[ VEL ] Commanded Velocity Assignment [operator]
[ VELA ] Actual Velocity Assignment [operator]
VF Final Velocity
[ VMAS ] Velocity of Master [operator]
WAIT() Wait for a Specific Condition
WHILE() WHILE Statement
WRITE Write a Message
WRVAR Write a Numeric Variable
WRVARB Write a Binary Variable
WRVARI Write a Integer Variable
WRVARS Write a String Variable
XONOFF Enable XON/XOFF ASCII Handshaking
[ \ANI ] Network Analog Input Voltage Status
\ANO Network Analog Output
[ \ANO ] Network Analog Output Status
[ \IN ] Network Digital Input Status
\OUT Network Digital Output
[ \OUT ] Network Digital Output Status
\TANI Transfer Network Analog Input Status
\TANO Transfer Network Analog Output Status
\TIN Transfer Network Digital Input Status
\TIO Transfer Ethernet I/O Status
\TOUT Transfer Network Digital Output Status

Appendix B: ASCII Table
DEC HEX CHAR DEC HEX CHAR DEC HEX CHAR
0 00 NUL 42 2A * 84 54 T
1 01 SOH 43 2B + 85 55 U
2 02 STX 44 2C , 86 56 V
3 03 EXT 45 2D - 87 57 W
4 04 EOT 46 2E . 88 58 X
5 05 ENQ 47 2F / 89 59 Y
6 06 ACK 48 30 ∅ 90 5A Z
7 07 BEL 49 31 1 91 5B [
8 08 BS 50 32 2 92 5C \
9 09 HT 51 33 3 93 5D ]
10 0A LF 52 34 4 94 5E ^
11 0B VT 53 35 5 95 5F _
12 0C FF 54 36 6 96 60 '
13 0D CR 55 37 7 97 61 a
14 0E SO 56 38 8 98 62 b
15 0F S1 57 39 9 99 63 c
16 10 DLE 58 3A : 100 64 d
17 11 XON 59 3B ; 101 65 e
18 12 DC2 60 3C < 102 66 f
19 13 XOFF 61 3D = 103 67 g
20 14 DC4 62 3E > 100 68 h
21 15 NAK 63 3F ? 105 69 i
22 16 SYN 64 40 @ 106 6A j
23 17 ETB 65 41 A 107 6B k
24 18 CAN 66 42 B 108 6C l
25 19 EM 67 43 C 109 6D m
26 1A SUB 68 44 D 110 6E n
27 1B ESC 69 45 E 111 6F o
28 1C FS 70 46 F 112 70 p
29 1D GS 71 47 G 113 71 q
30 1E RSt 72 48 H 114 72 r
31 1F US 73 49 I 115 73 s
32 20 SPACE 74 4A J 116 74 t
33 21 ! 75 4B K 117 75 u
34 22 " 76 4C L 118 76 v
35 23 # 77 4D M 119 77 w
36 24 $ 78 4E N 120 78 x
37 25 % 79 4F O 121 79 y
38 26 & 80 50 P 122 7A z
39 27 ` 81 51 Q 123 7B {
40 28 ( 82 52 R 124 7C |
41 29 ) 83 53 S 125 7D }
Appendix B: ASCII Table 349

DEC HEX CHAR DEC HEX CHAR DEC HEX CHAR
1
126 7E ~ 172 AC /4 212 D4
127 7F DEL 173 AD ¡ 213 D5
128 80 Ç 174 AE « 214 D6
129 81 ü 175 AF » 215 D7
130 82 é
176 B0 216 D8
131 83 â
132 84 ä 177 B1 217 D9
133 85 à 178 B2 218 DA
134 86 å 179 B3 ¦ 219 DB
135 87 ç 220 DC
136 88 ê 180 B4
221 DD
137 89 ë 181 B5
222 DE
138 8A è
182 B6 223 DF
139 8B ï
183 B7 224 E0 α
140 8C î
184 B8 225 E1 β
141 8D ì
142 8E Ä 185 B9 226 E2 Γ
143 8F Å 227 E3 π
186 BA
144 90 É 228 E4 Σ
187 BB
145 91 æ 229 E5 σ
188 BC 230 E6 ∝
146 92 Æ
147 93 ô 189 BD 231 E7 τ
190 BE
148 94 î 232 E8 Φ
149 95 ò 191 BF 233 E9 θ
150 96 û 192 C0 234 EA Ω
151 97 ù 193 C1 235 EB δ
152 98 ÿ 194 C2 236 EC ∞
153 99 Ö 237 ED ∅
195 C3
154 9A Ü 238 EE ∈
155 9B ¢ 196 C4 −
239 EF ∩
156 9C £ 197 C5 †
240 F0 ≡
157 9D ¥
198 C6 241 F1 ±
158 9E Pt
199 C7 242 F2 ≥
159 9F ƒ
200 C8 243 F3 ≤
160 A0 á
201 C9 244 F4 Ï
161 A1 í
202 CA 245 F5 |
162 A2 ó
163 A3 ú 203 CB 246 F6 ÷
164 A4 ñ 247 F7 ≈
204 CC
165 A5 Ñ 248 F8 °
205 CD =
166 A6 ª 249 F9 •
206 CE 250 FA ·
167 A7 º
207 CF 251 FB √
168 A8 ¿
208 D0
169 A9 252 FC η
209 D1
170 AA ¬ 253 FD 2
210 D2
171 AB 1
/2 254 FE •
211 D3
255 FF

Index
maximum, follower axis 140 axis assigned to task (TSKAX) 346

scaling 23 axis moving status 224, 303
scaling factor (SCLA) 275, 279 axis scaling 22
Operator Symbols s-curve profiling 19, 46 axis status 55, 302
homing 167 axis status, extended 56, 305, 306,
– 37 jogging 190 308
' 31 joystick 196
! 30 access 181, 213
! 28 active damping 71
" 32 actual feedback device position See B
# 30 position
π (pi) 253 addition (+) 37 backup to home (HOMBAC) 168,
$ 29 address 169, 171
& 38 Ethernet 330 baud rate, establish 58
( ) 36 IP 227 BCD program select input 178, 185,
* 37 address, auto-addressing units in a 211
. (bit select operator) 31 chain 49 begin and end string (") 32
/ 38 advance, geared (Following) 139 begin comments (;) 29
; 29 alarm event begin executing a program (RUN)
@ 29 enable checking (INTHW) 186 272
\ 32 force a condition (INTSW) 187 begin program definition (DEF) 78
^ 40 trigger with an input 180, 212 beginning of transmission characters
| 39 trigger with timer value 322 (BOT) 59
~() 41 analog input binary value identifier (b) 5
+ 37 ANI option See ANI binary variable (VARB) 360
< 35 joystick 197, 198, 199, 200, 201 clearing 360
<< 41 voltage range 199 display of bits 41
<= 35 voltage range selection 52 display on RP240 116
<> 36 analog monitor output A writing 370
= 33 scaling 86 bit select operator (.) 5, 31
> 34 variable 87 bitwise AND (&) 39
>= 34 analog monitor output B bitwise exclusive OR (^) 40
>> 42 scaling 88 bitwise NOT (~) 41
variable 89 bitwise OR (|) 39
AND (logical operator) 50 Boolean And (&) 38
ANI Boolean Exclusive Or (^) 40
A as Following master (ANIMAS) Boolean Inclusive Or (|) 39
52 Boolean Not (~) 41
ABS damping 70 check input voltage 301 brake output delay (OUTBD) 238
absolute position enable (ANIEN) 51 branching
absolute positioning mode (MA1) override (ANIEN) 51 branch to error program 129
219 voltage ELSE 119
effect on distance 68 status 51, 301, 325 error program 132
establishing 251, 261 voltage range section (ANIRNG) GOSUB 158
effect on position report 138, 52 GOTO 159
244, 245, 246, 247, 248, application examples IF 172
250, 256, 318, 331, 332, continuous phase shift 153 JUMP 202
333, 334, 335, 337 Following 143 NIF 225
master encoder GOWHEN 160 NWHILE 228
clear 257 preset phase shift 155 REPEAT 271
establishing 257 scaling setup 24 UNTIL 356
resolver 337 arc tangent 58, 264 WHILE 368
zeroed after homing 164 ASCII character designator (\) 32 BREAK 60, 159
acceleration 45 ASCII Table 379 break point (BP) 59
assignment of 46 assignment of axis to tasks 346 buffered commands
change on-the-fly 63, 220 assignment of master and follower looping (begin - L) 205
commanded (TACC) 300 146 looping (end - LN) 215
feedforward gain 285 auto current standby 77 looping, compiled 254, 255
jerk calculations 21 autorun 86 bus voltage, report 313
Index 351
enable communication 227 servo
C Ethernet address 330 current 287
IP address 227 load 205
call a subroutine (GOSUB) 158 network mask 228 motor 90
carriage return good prompt definition 129 position 287
command delimiter 5 lock COM port 215 velocity 289
transmission character 121 program definition prompt 126 stepper
case sensitivity 5 RP240 check 114 ABS 70
characters XON/XOFF, enable & disable active damping 71
command delimiters 5 371 during acceleration 78
comment delimiter 5, 29 communications server 186, 187 electronic viscosity 80
field separators 5 compiled motion See PLC program data
limit per line 5 compiling (PCOMP) 249 assignment (DAT) 71
neutral (spaces) 5 execute from PLC program fields, in command syntax 4
clear display (DCLEAR) 77 (PEXE) 252 program (DATP) 71, 72
clear error condition 131 failed PCOMP 295, 348 program size (DATSIZ) 74
clear variables (VARCLR) 360 final velocity 365 read from the RP240 111
clearing latched register bits 77 GOBUF segments 157 statement (DATA) 72
COM port looping 254, 255 memory required 222
enable/disable (E) 118 memory status 295, 348 storage 72, 73, 74, 313
function, setup 114 outputs (POUTA) 258 teach 76
lock to a task 215 run the profile (PRUN) 260 transfer 242, 243
selection (PORT) 258 status of program storage 312 deadband
COMM6SRVR 7 status, free segments 284, 346 joystick center 198
commanded acceleration (TACC) uncompile the profile (PUCOMP) joystick end 199
300 264 stall 135
commanded acceleration, compiling a profile or program debounce time for programmable
feedforward gain 285 (PCOMP) 249 inputs 175
commanded position 251, 336 conditional branching debounce time for trigger interrupt
capture 180, 245, 332 ELSE 119 inputs 343
comparison or assignment 244 IF 172 debugging tools See Programmer's
display 331 NIF 225 Guide
follower NWHILE 228 axis status (extended) report 305
assignment/comparison 263 REPEAT 271 axis status report 302
transfer 339 UNTIL 356 break point 59
commands WHILE 368 break, manual 60
buffered 28 conditional go 160 configuration status report 310
looping 215 configuration ENABLE status 325
looping, compiled 254, 255 using a setup program 296 error log 317
command buffer execution wizard in Motion Planner 8 error messages 14
after end-of-travel limit configuration error, motor 97 HALT 163
(COMEXL) 65 status 310 identify bad command 18, 309
after pause/continue input configuration wizard single-step mode 30, 296
(COMEXR) 65 Motion Planner 8 technical support 164
after stop (COMEXS) 67 continue (!C) 59, 61, 67, 205 trace mode 339, 340
continuous (COMEXC) 63 continuous command execution translation mode 340
command description format 3 mode (COMEXC) 63 deceleration 47
command field symbols 4 continuous current derating, motor assignment/comparison 48
command list 373 91 change on-the-fly 63
command value substitutions 6 continuous current, motor 91 limits
command-to-product continuous positioning mode (MC1) hard 208
compatibility 3 220 soft 217
default settings 3 continuous shift See shift, scaling 23
delimiters 5 continuous s-curve profiling 19, 49
immediate 28 control characters 369 hard limits 208
syntax 3 controlling multiple serial ports homing 168
comment delimiter 5, 29 select target port (PORT) 258 jogging 191
communication interface send response to alternate port 43 joystick 197
addressing units in a chain 49 send response to both ports 42 soft limits 217
baud rate 58 cosine 68, 264 default command settings 3
BOT characters 59 current damping ratio 287 restore (RFS) 272
COM port selection (PORT) 258 current foldback, enable/disable 81 define
controlling multiple COM ports current loop bandwidth 80 program/subroutine (DEF) 78
258 current loop gain 82 user status 176
send response to alternate port current offset, phase A 108 degrees, unit of measure 264
43 current offset, phase B 108 delay time (T command) 300
send response to both ports 42 current reduction at rest 77 delay, brake output (OUTBD) 238
echo enable 118 delete a program/subroutine (DEL)
enable communication (E) 118 79
end-of-transmission characters delimiter, comment 5, 29
121
D delimiters, command 5
error prompt definition 126 direction
Ethernet damping "positive" vs "negative" 69

change with D command 68 step & direction input 224
disable drive 114 output resolution (ORES) 124 F
disable drive on kill 204 position
disable hall sensor error checking assignment/comparison 138, factory default settings 113, 271
(DHALL) 81 250 factory default settings, restore 272
display capture 180, 246, 333 fast status register 187
messages 32 error 251 faults See drive, fault. See error
RP240 See RP240 status 318 axis (extended) status 307
distance 68 position report 335 axis status 304
assignment 69 resolution (ERES) 124 cause drive shut down 114, 304,
change on-the-fly 63, 69 selected with SFB 284 307
fractional step truncation 24, 281, Z-channel homing 164, 171 configuration 310
282 end of line terminating characters fault on drive disable 139
master See master, distance (EOL) 120 faults activate fault output and
registration 268 end of loop (LN) 205, 215 relay output 114, 304, 307
lock-out 269 end of loop, compiled (PLN) 254 motor configuration error 97, 310
scaling factor (SCLD) 275 end of transmission characters (EOT) feedback source selection 284
target zone 297 121 field separator 5
division 38 end program/subroutine/profile filter, master position 138
download/upload files definition (END) 120 final velocity
using Motion Planner 8 end-of-travel limits homing 171
DRESET 113 active level 183, 214 final velocity (compiled motion) 365
drive deceleration 208 firmware update
active damping 71 s-curve 208 using Motion Planner 10
auto current standby 77 effect on command buffer 65 foldback mode 77
bus voltage, status of 313 effect on homing 164, 169 follower
configuration enable/disable 207 acceleration, max. 140
disable drive on kill 204 error status 314 commanded position
resolution (DRES) 113 function assignment (INFNC) 181 assignment/comparison 263
configuration procedure function assignment (LIMFNC) transfer 339
using Motion Planner 8 211 conditional go 160
disable 114 simulate activation 210 definition of 146
disable drive on kill 204 soft limit master assignment 146
enable 114 decel 216 phase shift See shift
fault decleration (LSAD) 217 ratio to master 149
if DRIVE0 or enable input decleration, s-curve 217 change on the fly 149
open 139 range, negative direction 218 final (compiled motion) 150
status 56, 306, 308 range, positive direction 218 status 151, 318
operating modes (DMODE) 86 status 209, 303, 327 velocity, max. 140
shutdown 114, 203, 204 enter interactive data (') 31 Following
stall detect epitch 84 application examples 143
enable (DSTALL) 115 erase all programs (ERASE) 124 conditions for killing a profile
temperature fault 307 error 145
temperature, status report 313 clearing 131 distance scaling 24
error checking enable (ERROR) enable or disable 143
129 status 151, 319
error detection level (ERRLVL) geared advance 139
E 127 status 151, 318, 320
error log step & direction input (MESND)
echo, communication 118 clear (CERRLG) 62 224
electrical pitch 84 display contents (TERRLG) force
electronic viscosity 80 317 actual, status 352
ELSE 119, 172, 225 error log (ERRORL) 130 commanded, status 352
enable input motor configuration 310 limit 94
error status 314 program assignment (ERRORP) status 78, 307
enable input status 123, 183, 325 131 scaling 99
error checking 129 prompt (ERRBAD) 126 force an alarm event (INTSW) 187
error program 131 responses 14 forcer
error status 122 status 122, 314, 316 inertia/mass ratio 214
enable or disable Following 143 Ethernet mass 93
status 151, 319 enable communication (INFEN) fractional step truncation 281, 282
enabling the drives 114 227
encoder Ethernet address 330
capture/counter enable (steppers) IP address 227
120 network mask 228 G
input resolution (ERES) 124 events, alarm 186
master exclusive or (^) 40 gains
polarity 224 execute program from PLC program acceleration feedforward 285
position 137 current damping ratio (SGIRAT)
assignment/comparison expansion I/O, status 325 287
256, 337 extended axis status 56, 306, 308 current loop bandwidth (DIBW)
capture 247, 334 80
status 337 gain set
Index 353
displaying 321 deceleration (LHAD) 208 effect on command buffer
gain set, display 346 enable (LH) 207 65
gain set, enabling 285 s-curve deceleration 208 position capture 180
gain set, saving 288 status 209, 327 program select 181, 213
integrator enable (SGINTE) 286 HELP 164 program select, BCD 178, 211
load damping (LDAMP) 205 hexadecimal value identifier (h) 5 registration 265
load-to-force mass ratio (LJRAT) homing status 174, 324
214 acceleration 166 stop 67, 180, 212, 274
load-to-rotor inertia ratio backup enable 168 strobe time 185
(LJRAT) 214 deceleration 167 thumbwheel 186, 355
notch filter A depth (DNOTAD) final direction 169 trigger interrupt 180, 245, 246,
102 home input 247, 248, 332, 333, 334
notch filter A frequency active level 214 lockout time 343
(DNOTAF) 103 function assignment (INFNC) user fault 180, 212
notch filter A quality factor 181 trigger See trigger inputs
(DNOTAQ) 104 function assignment virtual input override 173
notch filter B depth (DNOTBD) (LIMFNC) 213 installation
104 reference edge 169 Motion Planner 7
notch filter B frequency status 209, 327 integer variable (VARI) 361
(DNOTBF) 104 initiate (HOM) 164 display on RP240 117
notch filter B quality factor s-curve accel/decel 167, 168 writing (WRVARI) 370
(DNOTBQ) 105 to encoder Z-channel 171 integrator, enable 286
notch lag filter break freq velocity interactive data (') 31
(DNOTLG) 106 final 171 interrupt, program 229, 230, 232
notch lead filter break freq starting 170 IP address 227
(DNOTLD) 105 zero absolute postion 164
position damping ratio
(SGPRAT) 287
position loop bandwidth (DPBW) J
106 I
torque/force limit (DMTLIM) 94 jerk calculations 21
velocity damping ratio IF 50, 172, 225 jerk, reducing 19
(SGVRAT) 289 ELSE 119 jog
velocity feedforward 288 immediate commands 28 acceleration 190
velocity limit (DMVLIM) 101 immediate data read from RP240 s-curve 190
velocity/position bandwidth ratio 111 deceleration 191
(SGPSIG) 287 immediate stop 67, 274 s-curve 191
geared advance 139 in position 189 input
global command identifier (@) 5, 29 inclusive or (|) 39 negative direction 180, 212
GO 156 incremental positioning mode positive direction 180, 212
compiled (GOBUF) 157 (MAØ) 219 speed select 180, 212
GOBUF, compiled motion segments effect on distance 68 mode enable (JOG) 189
157 indirect variables 359 using RP240 83
good prompt (ERROK) 129 inductance, motor 92 velocity
gosub maximum 95 high 192
branch to error program 129 minimum 95 low 192
on input condition 230 initial master cycle position 142 joystick
on user status condition 231 inputs 11 acceleration (JOYA) 195
on VAR1 condition 232 analog See ANI analog channel high (JOYAXH)
on VAR2 condition 232 joystick See joystick 197
GOSUB 158 joystick (INFNC functions) 180 center (JOYCTR) 198
goto 159 joystick (LIMFNC functions) 212 center deadband (JOYCDB) 198
branch to error program 129 limits deceleration (JOYAD) 196
GOWHEN 160 end-of-travel See end-of-travel enable operation (JOY) 193
error condition 123 home See homing, home input end deadband (JOYEDB) 199
check 130, 131 programmable input functions (INFNC) 180
via trigger input 342 active level (INLVL) 183 input functions (LIMFNC) 212
greater than (>) 34 alarm event 180, 212 s-curve accel/decel 196, 197
greater than or equal (>=) 34 bit pattern 11 velocity high (JOYVH) 199
configuration 325 velocity low (JOYVL) 200
debounce time 175 voltage range 199
enable (INEN) 177 zero (JOYZ) 201
H function assignments (INFNC) jump 160
178 JUMP 202
hall sensor function assignments
check sensor values (THALL) (LIMFNC) 211
321 simulate activation of 210
inversion (SHALL) 289 jog K
halt negative direction 180, 212
stop error program 131 positive direction 180, 212 kill
HALT 163 speed select 180, 212 conditions that will kill a
hard limit kill 180, 212 Following move 145
active level (LIMLVL) 214 pause/continue 180, 212 disable drive 204

immediate (!K) 185, 220 restart 141 maximum 95
input 180, 212 length 141 minimum 95
on stall (ESK) 135 master cycle linear motor pitch 84
Kill 203 number peak current 92
assignment/comparison 226 pole pairs 108
transfer 328 rated speed 101
position rotor inertia 93
L assignment/comparison selection recorded with DMTR 97
(PMAS) 256 static torque 99
label capture (PCMS) 248 temperature fault 307
declaration ($) 29 capture (TPCMS) 334 temperature report 328
transfer 326 initial 142 thermal time constant 100
lead/lag filters rollover 256, 336 voltage constant (Ke) 93
lag 106 transfer (TPMAS) 336 winding resistance 98
lead 105 status 151, 319 winding temperature, max. 96
LEDs, RP240 84 master cycle position capture 248, winding thermal resistance 98
left-to-right math 5 334 winding time constant 100
length, master cycle 141 master position filtering 138 motor data table, updates 97
less than (<) 35 status 151, 319 move completion criteria 297
less than or equal (<=) 35 master position prediction 150 moving/not moving status 224, 303
limits status 151, 319 multi-line response 121
activate output 239 moving, status of 151, 319 multiplication 37
end-of-travel See end-of-travel. ratio to follower 148 multi-tasking
See end-of-travel limits change on the fly 149 assign axis to tasks (TSKAX) 346
function assignments (LIMFNC) status 151, 318 control task swapping 347
211 scaling 24, 281 identify the controlling task 306,
simulate activation of 210 velocity 355, 366 351
home See homing, home input mathematical operators lock resource to a task 215
status 209, 327 ( ) 36 status 350
line feed * 37 task identifier (%) 5, 27
command delimiter 5 / 38 tasks active (status) 299, 351
transmission character 121 + 37
linear interpolation = 33
distance scaling 24, 280 SQRT 294
linear motor pitch 84 maximum allowable position error N
load, damping 205 293
load-to-forcer mass 214 axis status 303 nested loops 205
load-to-rotor inertia 214 error status 314 network mask 228
lock COM port to a task 215 maximum allowable velocity error neutral characters 5
lock-out distance, registration 269 axis status 307 NIF 172, 225
logical operators defining 293 ELSE 119
AND 50 maximum follower acceleration 140 not equal (<>) 36
NOT 226 maximum follower velocity 140 not, bitwise operator (~) 41
OR 233 memory not, logical operator (NOT) 226
loops after a drive reset (DRESET) 113 notch filter A
compiled 255 after a reset 271 depth 102
end of loop 215 allocation 222 frequency 103
compiled 254 data statement (teach mode) 222 quality factor 104
nested 205 labels 29 notch filter B
terminate 219 locking 181, 213 depth 104
return to factory settings 272 frequency 104
status, usage 327 quality factor 105
messages notch lag filter break frequency 106
M display on RP240 (DWRITE) 117 notch lead filter break frequency 105
error 14 number, master cycle 226, 328
mass, forcer 93 sending 32 numeric variable 370
master motion parameters 156 clearing 360
assign an ANI input (ANIMAS) Motion Planner 7 display on RP240 116
52 drive configuration 8 NWHILE 228, 368
definition of 146 drive operating system update 10
status 151, 319 installation 7
direction, status of 151, 319 quick tour 8
distance motion, compiled See compiled O
fractional step truncation 282 motion
programming (FOLMD) 148 motor offset
encoder ambient temperature 90 position 251, 261
positon 256, 337 auto-configure 8, 97 master encoder 257
captured 247, 334 configuration error 97 resolver offset angle 294
clear 257 continuous current 91 status 347
set 257 continuous current derating 91 on conditions (program interrupts)
follower assignment 146 current standby mode 77 229, 230, 231, 232
master cycle damping 90 one-shot registration 269
counting inductance 92 on-the-fly D changes 63, 69
Index 355
on-the-fly FOLRD & FOLRN output on position 240, 241 master 180
changes 63, 149 PLC 242 master cycle 248, 334
on-the-fly MA & MC changes 220 program in progress 239 commanded 244, 251, 331, 336
on-the-fly motion MA & MC stall indicator 239 captured 245
changes 63 status 234, 235, 236, 330 current feedback device 138
on-the-fly profile change not strobing 242 encoder 250, 335
possible 303 step and direction 233 assignment/comparison 138
on-the-fly V, A & AD changes 63, override analog inputs (ANIEN) 51 master 256, 337
220 override mode 77, 102 status 318
operating hours, report 311 over-temp fault error
operating modes, drive (DMODE) drive 307 exceeded max. limit 123, 303,
86 motor 307 314
operating system update setting max. allowable
using Motion Planner 10 (SMPER) 293
operation priority level 36 status 251, 336
operator symbols P master cycle 142
' 31 master encoder
! 28 partitioning memory 222 absolute, clearing 257
" 32 password, RP240 106 absolute, establishing 257
# 30 pause active, status 295, 348 offset 257
$ 29 pause program execution (PS) 260 master position prediction See
& 38 pause/continue input 180, 212 master, master position
( ) 36 effect on motion & program prediction
* 37 execution 65 offset 251, 261
. (bit select operator) 31 peak current, motor 92 output on position 241
/ 38 phase A current offset 108 position bandwidth ratio 287
; 29 phase B current offset 108 position damping ratio 287
@ 29 phase balance 107 position loop bandwidth 106
\\ 32 phase, shift positioning mode selection 219,
^ 40 continuous 153 220
| 39 position assignment/comparison change on the fly 220
~() 41 263 resolver 335
+ 37 position transfer 338 RP240 cursor (DPCUR) 107
< 35 preset 154 set to zero after homing 164
<< 41 phase, tracking 139 setpoint 244, 331
<= 35 Pi (π) 253 shift
<> 36 PLC continuous 153
= 33 data inputs (INPLC) 184 geared to master 139
> 34 inputs 184 preset 154
>= 34 strob outputs (OUTPLC) 242 set to zero upon FOLEN1 143
>> 42 PLC program tracking 289
or 368 compiling (PCOMP) 249 power dissipation circuit
or, Boolean exclusive (^) 40 defining (PLCP) 253 active, status of 307
or, Boolean inclusive operator (|) 39 execute compiled program from latched bit 78
or, logical operators (OR) 233 (PEXE) 252 fault, status of 57, 307
other input status (INO) 183 execute program from (EXE) 137 power-up start program (STARTP)
outputs 11 initiate scan mode (SCANP) 276 296
analog monitor A memory storage 222 pre-emptive GOs See on-the-fly. See
scaling 86 time of last scan 345 on-the-fly
variable 87 pointer, data preset positioning mode (MCØ) 220
analog monitor B location 109, 313 preset shift See shift, preset
scaling 88 reset 74 priority level 36
variable 89 set 73 product revision 3, 341
brake output delay (OUTBD) 238 polarity profile, compiling (PCOMP) 249
compiled (POUTA) 258 end-of-travel inputs 214 program
encoder 233 home inputs 214 branch condition 29, 158, 159,
fault output and relay output master encoder input 224 202, 231
activate on fault condition 304, programmable inputs 183 break point 59
307 programmable outputs 240 comments 5
programmable trigger inputs 183 contents, display 337
activate 234 pole pairs, motor 108 data (DATP) 72
activate, multiple 236 PORT (selecting a COM port) 258 debug 340
active level (OUTLVL) 240 position command errors 309
bit pattern 11 absolute, establishing 251, 261 definition 78, 120, 272
configuration 325 actual 251, 335, 336 definition, prompt (ERRDEF)
enable (OUTEN) 238 capture 126
fault output 240 commanded 120, 245, 332, directory 312
function assignments 343, 352 display contents 337
(OUTFNC) 239 commanded position 180 drive reset, effect of 113
limit encontered 239 encoder 120, 180, 246, 333, erase 124
maximum position error 343, 352 error handling 131
exceeded 240 master encoder 247, 334 error responses 14
moving/not moving 239 for registration 265 execution

from compiled program (EXE) relay output enable/disable communication
137 activate on fault condition 304, 118
status 295, 317, 348 307 lock COM port 215
termination 60, 163 status 330 run, compiled program (PRUN) 260
upon power-up 296 repeat 226, 271, 356 run, PLC program (SCANP) 276
flow control 163, 202, 225, 226, REPEAT 50, 271 run, program (RUN) 272
271 reset
WAIT statements 366 data pointer (DATRST) 74
interrupts 229 drive (DRESET) 113
jump (branch) 202 drive (RESET) 271 S
label 29 RESET 271
list all programs 312 resolution save command buffer on limit 65
memory allocation 222 drive 113 scaling 22
name 79, 185 encoder 124 acceleration 23, 279
pause (PS) 260 encoder input 124 analog monitor output A 86
PLC encoder output 233 analog monitor output B 88
definition of (PLCP) 253 resolver 124 distance 24, 280
memory storage 222 step & direction output 233 enabling 275
PLC scan (SCANP) 276 resolver examples 24
power-up program 296 offset angle 294 force command 99
reset, effect of 271 status 347 master 24, 281
run 272 position report 335 torque command 99
security 181, 213 resolution 124 velocity 23, 282
selection 181, 185, 213 transfer absolute position (TPRA) scan PLC program (SCANP) 276
size restriction 222 337 scan time of last PLC program 345
step through 30, 296 responses s-curves 19
storage 222, 327 beginning-of-transmission acceleration 46
trace mode 339, 340 characters 59 deceleration 49
translation mode 340 end of line characters 120 hard limit deceleration 208
upload 337 end-of-transmission characters homing acceleration 167
program/profile 121 homing deceleration 168
definition 120 error 14 jogging deceleration 191
programmable inputs See inputs, send to both COM ports 42, 43 joystick acceleration 196
programmable restart master cycle counting 141, joystick deceleration 197
programmable outputs See outputs, 342 soft limit deceleration 217
programmable return to factory settings 272 S-curves
programming revision level 341 jogging acceleration 190
programming tools 7 rollover of master cycle position 256, security of programs 181, 213
programming examples See 336 segment See compiled motion
application examples rotor inertia, motor 93 select bit 31
prompt round-off error, square root 294 servo
error 126 RP240 commanded position 244, 331
good (no errors) 129 COM port setup 114 data gathering, status 295, 348
program definition 126 connection verified 295 feedback source selection 284,
PWM frequency 109 connection verified 348 318
data read 110 gain sets
data read immediate mode 111 display 346
display binary variable (DVARB) enable 285
R 116 saving 288
display integer variable (DVARI) gains See gains
radian 264 117 move completion criteria 297
rated speed, motor 101 display layout 107, 118 position error
ratio of follower to master 148, 149 display numeric variable (DVAR) max. allowable 293
change on the fly 149 116 position tracking 289
final ratio (in compiled profile) display variable 116 target distance zone 297
150 jog mode 83 target velocity zone 299
status 151, 318 LEDs 84 target zone mode enable 297
read a value (READ) 267 password 106 target zone settling time 350
read data from parallel I/O 242 position cursor 107, 110 target zone settling timeout period
read RP240 data (DREAD) 110, 111 read function key 110 298
read RP240 function key (DREADF) stop key enable/disable 116 servo tuning
110, 111 value of key pressed 83 current damping ratio (SGIRAT)
registration write text 117 287
distance 268 RS-232C current loop bandwidth (DIBW)
lock-out 269 auto-addressing (ADDR) 49 80
enable 265 COM port setup 114 integrator enable (SGINTE) 286
input debounce 343 enable/disable communication load damping (LDAMP) 205
single-shot (REGSS) 269 118 load-to-rotor inertia ratio
status, profile not possible 303 lock COM port 215 (LJRAT) 214
status, trigger occurred 303 RS-485 notch filter A depth (DNOTAD)
trigger interrupt 180 auto-addressing (ADDR) 49 102
relational operators 172, 271, 356, COM port setup 114 notch filter A frequency
366, 368 disable XON/XOFF 371 (DNOTAF) 103
Index 357
notch filter A quality factor start-up program (STARTP) 296 branch condition 231
(DNOTAQ) 104 static torque 99 definition 78, 120
notch filter B depth (DNOTBD) statistics, drive config. & status 350 effect of drive reset 113
104 status effect of reset 271
notch filter B frequency axis 55, 302 name 79
(DNOTBF) 104 axis, extended 56, 305, 306, 308 substitutions, command values 6
notch filter B quality factor clear latched bits (DCLRLR) 77 binary variable (VARB) 360
(DNOTBQ) 105 command error 18, 309 data assignment (DAT) 71
notch lag filter break freq commanded position 244, 331 numeric data read (READ) 268
(DNOTLG) 106 captured 245, 332 numeric variable (VAR) 359
notch lead filter break freq compiled motion memory 295, RP240 Function Key (DREADF)
(DNOTLD) 105 348 111
position damping ratio data pointer location 109, 313 RP240 numeric data (DREAD)
(SGPRAT) 287 enable input 325 110
position loop bandwidth (DPBW) encoder thumbwheel data (TW) 355
106 master position 256, 337 subtraction 37
presently active gains, display encoder position 250, 335 support, technical assistance 164
321 captured 246, 333 swapping, tasks
torque/force limit (DMTLIM) 94 error 122, 314, 316 controlling 347
velocity damping ratio error log 317 status 299, 351
(SGVRAT) 289 Ethernet address 330 syntax 3, 4
velocity limit (DMVLIM) 101 expansion I/O 325 guidelines 5
velocity/position bandwidth ratio Following 151, 318, 320 system status (SS) 294
(SGPSIG) 287 free segments, compiled memory
set data pointer (DATPTR) 73 284, 346
settling time See target zone gain set 346
setup wizards gains, presently active 321 T
Motion Planner 8 inputs 356
shift enable 325 tangent (TAN) 301
continuous 153 programmable 174 target zone 303
application example 153 interrupt 356 display actual settling time 350
position labels 326 enabling 297
assignment/comparison 263 limits 209, 214, 327 setting the distance zone 297
transfer 338 master encoder position setting the timeout period 298
geared to master 139 captured 247, 334 setting the velocity zone 299
L to R (bit 1 to bit 32) 42 memory 312, 327 timeout error 303
preset 154 motor configuration errors 310 task supervisor 27
application example 155 moving/not moving 224 tasks See multi-tasking
position outputs 234, 235, 236, 330 direct with prefix (%) 27
assignment/comparison 263 pause 295, 348 teach mode
transfer 338 position capture 343, 352 data assignment (DAT) 71
R to L (bit 32 to bit 1) 41 position error 251, 336 data pointer (DATPTR) 73
status 151, 319 program contents 337 data pointer reset (DATRST) 74
shutdown the drive 114, 203, 204 program directory 312 data program (DATP) 72
sine 291 program execution 295, 317, 348 data program size (DATSIZ) 74
sine wave (virtual master) resolver position 335 data statement (DATA) 72
amplitude (SINAMP) 291 settling time 350 data storage (DATTCH) 76
angle (SINANG) 292 software revision level 341 memory requirement 222
start (SINGO) 292 system 294, 348, 349, 356 technical support 164
single step mode 30, 296 timer 351 temperature fault
single-shot registration (REGSS) 269 user 175, 353, 357 drive 307
soft limit velocity motor 307
deceleration (LSAD) 217 feedback device 354 temperature status
effect on command buffer 65 motor 353 drive 313
enable (LS) 216 voltage input for ANI 301 motor 328
negative-direction range wait 295, 348 temperature, motor (ambient) 90
(LSNEG) 218 step & direction from master encoder temperature, motor winding 96
positive-direction range (LSPOS) (MESND) 224 terminal emulator
218 step through a program 30, 296 Motion Planner 9
s-curve deceleration 217 stop terminate loop (LX) 219
software revision level 341 command 272 terminate program execution 60,
space (neutral character) 5 effect on program execution 67 131, 163
square root 294 input (INFNCi-D) 67, 180, 274 thermal time constant, motor 100
stall detection input (LIMFNCi-D) 212 thumbwheel
drive (DSTALL) stop key (RP240) 116 assignment (TW) 355
enable 115 stop timer (TIMSTP) 323 data inputs (INSTW) 186
stall detection string variable (VARS) 32, 362, 371 strobe outputs (OUTTW) 243
drive (DSTALL) clearing 360 time delay (T) 300
sensitivity 115 strobe timeout, target zone 303
encoder (ESTALL) 136 PLC 242 timer 351
backlash deadband (ESDB) thumbwheels 243 assignment of value (TIM) 322
135 time 185 start 323
start timer (TIMST) 323 subroutine stop 323

value to cause alarm (TIMINT) position of master encoder using Motion Planner 10
322 (TPME) 337 motor data table 97
torque position of selected feedback upload/download files
actual, status 352 device (TFB) 318 using Motion Planner 8
commanded, status 352 program (TPROG) 337 user fault 180, 212, 240
limit 94 program directory (TDIR) 312 user fault input
status 78, 307 program execution status (TEX) active level 183
scaling 99 317 error status 314
static 99 resolver (TPRA) 337 user status 175, 353, 356
trace mode 339, 340 resolver offset angle (TSROFF) basis for gosub 231
transfer 347 definition (INDUST) 176
actual torque/force (TTRQA) 352 revision level (TREV) 341
actual velocity (TVELA) 354 servo gain set (TSGSET) 346
analog input voltage, ANI (TANI) servo settling time (TSTLT) 350
301 statistics (TSTAT) 350 V
axis status (TAS) 302 system status (TSS) 348, 349
axis status, extended (TASX) timer (TTIM) 351 value substitution, command fields 6
305, 306, 308 user status (TUS) 353 variable
bus voltage (TDVBUS) 313 velocity error (TVE) 353 analog monitor output A 87
captured commanded position translation mode 340 analog monitor output B 89
(TPCC) 332 transmitting message strings 369 variables 31
captured master cycle position trigger inputs binary 357
(TPCMS) 334 active level 183 display on RP240 116
command error 309 debounce 175 writing 370
commanded acceleration (TACC) if interrupt inputs 343 clearing (VARCLR) 360
300 I/O bit pattern 11 conversion between numeric and
commanded position of follower position capture 180, 245, 246, binary 363
(TPSLV) 339 247, 248, 332, 334 indirect 359
commanded torque/force (TTRQ) status 343, 352 integer 361
352 programmed display on RP240 117
commanded velocity (TVEL) 353 GOWHEN function 342 writing 370
configuration status (TCS) 310 restart master cycle counting numeric 359
continuous current rating 342 display on RP240 116
(TDICNT) 311 status 151, 319 teach data 71, 76
data pointer location (TDPTR) programmed functions 178, 211 writing 370
313 registration 180, 265 string 362
drive temperature (TDTEMP) 313 status 174, 324 writing 371
error log (TERRLG) 317 trigger interrupt input velocity 357
error status (TER) 314, 316 registration 268 actual (feedback device) 354
Ethernet address (TNTMAC) 330 trigonometric operators 253, 264, assignment 358
expansion I/O configuration 291, 359 actual 365
(TIO) 325 troubleshooting See Programmer's commanded 364
Following status (TFS) 318, 320 Guide bandwidth, ratio with position
free segments (TSEG) 346 axis status 302 287
gains (TGAIN) 321 axis status, extended 305 change on-the-fly 63, 220
hall sensor values (THALL) 321 configuration status report 310 commanded 353
input status programmable (TIN) drive statistics 350 damping ratio 289
324 enable input status 325 error
labels (TLABEL) 326 error log 317 setting max. allowable
limits (TLIM) 327 error messages 14 (SMVER) 293
master cycle number (TNMCY) Following status 318, 320 status 353
328 Hall sensors 321 feedforward gain (SGVF) 288
master cycle position (TPMAS) identify bad command 18 final (compiled motion) 365
336 system status 294 jog, high 192
master velocity (TVMAS) 355 truncation jog, low 192
maximum current rating acceleration/deceleration 23, 279 limit 101
(TDIMAX) 312 distance 24, 281, 282 master
memory usage (TMEM) 327 velocity 23, 283 assignment/comparison 366
motor temperature (TMTEMP) transfer 355
328 maximum, follower axis
net position shift (TPSHF) 338 (steppers) 140
operating hours (TDHRS) 311 U scaling (SCLV) 275, 282
other input status (TINO) 325 target zone 299
output status (TOUT) 330 uncompile a compiled profile virtual input override 173
PLC scan time 345 (PUCOMP) 264 virtual master
position commanded (TPC) 331 unconditional looping 205, 215 count acceleration (FVMACC)
position error (TPER) 336 compiled 254, 255 155
position of captured encoder units of measurement 3, 22, 276 count frequency (FVMFRQ) 156
(TPCE) 333 linear motors 84 viscosity, electronic 80
position of captured master until 226, 271, 356 voltage
encoder (TPCME) 334 UNTIL 50 ANI input 51, 301
position of encoder/resolver updates voltage constant (Ke) of motor 93
(TPE) 335 drive operating system voltage range for ANI inputs 52
Index 359
winding time constant, motor 100
W wizards, setup X
Motion Planner 8
wait 226, 366 write 32, 369 XON/XOFF, enable & disable 371
WAIT 50 binary variable 370
compared to GOWHEN 162 integer variable 370
status 295, 348 message 369
waveform 117 numeric variable 370 Z
while 226, 228, 368 RP240 text 117
WHILE 50 string variable 371 z-channel 171
winding resistance, motor 98 zero absolute position after homing
winding temperature, max. 96 164
winding thermal resistance, motor 98 zero master cycle position 142

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p/n 88-019933-01 A

Automation Gemini GV6K and

© 2001, Parker Hannifin Corporation

Tech nical Su pport

Purpose of this Document

This document is also

INEN Input Enable

Item Number Description

2. Full Name: This field contains the command's full name.

4. Type: This field contains the command’s type.

2 Gemini GV6K/GT6K Command Reference

INEN Input Enable

Order of Precedence for Command Prefix Characters (from left to right):

Guideline Topic Guideline Examples

Left-to-right Math All mathematical operations assume VAR1=5+3*2

NOTE: The command line is limited to 80 characters (excluding spaces).

4 Gemini GV6K/GT6K Command Reference

Programming Example: (NOTE: The substitution item must be enclosed in parentheses.)

Using Motion Planner with a Gem6K Drive

Installing Motion Planner:

6 Gemini GV6K/GT6K Command Reference

NOTE: If the download is interrupted or corrupted, the drive will

I/O Location Programming Status Report, Assignment

Limit Inputs (“DRIVE I/O” connector)

Sample response to TLIM (limit inputs status) command:

8 Gemini GV6K/GT6K Command Reference

Input bit pattern for TIN, IN, INFNC, INLVL,

Bit # Pin # Function *

Sample response to TIN (input status) command:

Outputs (“DRIVE I/O” connector)

Output bit pattern for TOUT, [OUT], OUT, OUTFNC,

Bit # Pin # Function

Sample response to TOUT

Gem6K I/O Brick #1 I/O Brick #2

Slot #2 (I/O points 9-16) Slot #2 (I/O points 9-16)

Slot #3 (I/O points 17-24) Slot #3 (I/O points 17-24)

Slot #4 (I/O points 25-32) Slot #4 (I/O points 25-32)

*BRICK 2: SIM Type Status Function

10 Gemini GV6K/GT6K Command Reference

Error Response Possible Cause

AXES NOT READY Compiled Profile path compilation error.

INCORRECT AXIS Axis specified is incorrect.

INCORRECT DATA Incorrect command syntax.

INVALID COMMAND Command is invalid because of existing conditions

Following (these conditions can cause an error during Following):

INVALID DATA Data for a command is out of range.

12 Gemini GV6K/GT6K Command Reference

NO PATH SEGMENTS DEFINED Compiled Profile compilation error.

NO PROGRAM BEING DEFINED END command issued before a DEF command.

NOT ALLOWED IN PATH Compiled Profile path compilation error.

PROFILE ALREADY MOVING Compiled Profile compilation error.

STRING IS A COMMAND Defining a program or label that is a command or a variant of a command.

UNDEFINED LABEL Command issued to product is not a command or program name.

WARNING: DEFINED WITH ANOTHER Duplicate I/O in multiple thumbwheel definitions.

Example Error Scenario:

14 Gemini GV6K/GT6K Command Reference

Maximum Jerk Less Jerk

S-Curve Programming Requirements

Determining the S-Curve Characteristics

Programming Example (see move profile drawings below)

DEL Prog2 ; Delete program called prog2 Move profiles

16 Gemini GV6K/GT6K Command Reference